text: import sys
  # sys.path.append('.')
  sys.path.append(r'C:\Users\taylo\OneDrive\Cornell\LISC\Code\RoboBee\PyBee3D_Basic')
  import numpy as np
  import scipy
  import nengo
  from controllers.pif.pif_compensator import PIFCompensator
  
  
  class PIFControl(nengo.Network):
      def __init__(self, bee, label=None):
          self.bee = bee
          super(PIFControl, self).__init__(label=label)
          self.controller = PIFCompensator()
  
          def control_ode_fun(t, eta, y_star, x, u, bee):
              return self.controller.get_control_dynamics(eta, t, y_star, x, u, bee)
  
          self.integrator_control = scipy.integrate.ode(control_ode_fun).set_integrator('dopri5')
          eta = np.zeros(7)
          eta[:4] = self.controller.get_u_star([0, 0, 0, 0])
          self.integrator_control.set_initial_value(eta, 0)
  
          with self:
              self.control = nengo.Node(self.update, size_in=28)
  
              self.y_star = nengo.Node(None, size_in=4)
              self.x = nengo.Node(None, size_in=20)
              self.u = nengo.Node(None, size_in=4)
              nengo.Connection(self.y_star, self.control[:4], synapse=None)
              nengo.Connection(self.x, self.control[4:24], synapse=None)
              nengo.Connection(self.u, self.control[24:], synapse=None)
  
      def update(self, t, v):
          y_star, x, u = v[:4], v[4:24], v[24:28]
          self.integrator_control.set_f_params(y_star, x, u, self.bee)
          eta = self.integrator_control.integrate(t)
          u = eta[:4]
          return u