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pid steering

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tymek 2025-07-31 18:45:19 +02:00
parent bbaa5c7a4c
commit 1163b74467
1 changed files with 3 additions and 3 deletions
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6
steer-pid.py
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@ -94,7 +94,7 @@ for chunk in stream.iter_content(chunk_size=1024):
x = x - 160
wp = 0.8
wd = 0.2
wd = 0.3
wi = 0
mri = 0.5
@ -102,7 +102,7 @@ for chunk in stream.iter_content(chunk_size=1024):
p = -x
d = (x - xp) * 1000 / dtms
i = mri * ip + x * dtms
i = mri * ip + x * dtms / 1000
k = wp * p + wi * i + wd * d
@ -114,7 +114,7 @@ for chunk in stream.iter_content(chunk_size=1024):
# (Opcjonalnie) Wypisz pozycję
cv2.putText(frame, f"P:{int(p)} D:{int(d)} I:{int(i)}", (10, 30),
cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
print("PID: ", p, d, i)
print("PDI: ", p, d, i)
# ============================
# 👆 KONIEC DETEKCJI PIŁKI 👆
# ============================