fix: use computed PID frequency in pid2.py instead of hardcoded value (fixes #366)

[GaneshPatil7517]

Summary

This PR resolves Issue #366 in pid2.py.

The controller correctly computed and clamped a PID-based freq value:

freq = KpF*PF + KiF*IF + KdF*DF
if freq > 30: freq = 30
if freq < 10: freq = 10

However, the computed frequency was ignored and replaced with a hardcoded value:

ustar = np.array([amp, 30])

This effectively disabled dynamic PID frequency control.

Changes Made

• Replaced hardcoded 30 with computed and clamped freq
• Preserved all PID gain logic
• Preserved clamping behavior (10–30)

Impact

• Restores correct PID frequency behavior
• Enables dynamic frequency adjustment based on error feedback
• Fixes functional bug without altering control structure

Scope

• Single file modification (tools/pid2.py)
• Single line changed (1 insertion, 1 deletion)
• No concore-lite changes
• No Verilog changes

Testing

• Verified syntax with py_compile
• Simulated PID controller over 50 timesteps: confirmed freq varies dynamically (11 unique values observed)
• Verified clamping holds within [10, 30]
• Confirmed output array now reflects computed PID frequency

This restores intended controller functionality.

[Copilot]

Pull request overview

This PR fixes a bug in tools/pid2.py where a computed PID frequency value was being ignored. The controller implemented a dual PID system controlling both amplitude and frequency, but the frequency output was hardcoded to 30 instead of using the computed and clamped freq variable. This fix restores the intended dynamic frequency control behavior.

Changes:

• Replace hardcoded frequency value (30) with computed PID frequency variable (freq) in controller output array

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