oskar/pi-lego-spike
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pid steering

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tymek 2025-07-31 18:34:40 +02:00
parent 11752074f0
commit 0ea853623a
1 changed files with 2 additions and 2 deletions
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steer-pid.py
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@ -106,8 +106,8 @@ for chunk in stream.iter_content(chunk_size=1024):
k = wp * p + wi * i + wd * d k = wp * p + wi * i + wd * d
motorL.start(-v * min(100 - k, 100)) motorL.start(-v * min(100 + k, 100))
motorR.start(v * min(100 - k, 100)) motorR.start(v * min(100 + k, 100))
xp = x xp = x
ip += i ip += i