From 1163b74467dd38b05b866234aa570f55ca6514b5 Mon Sep 17 00:00:00 2001 From: tymek Date: Thu, 31 Jul 2025 18:45:19 +0200 Subject: [PATCH] pid steering --- steer-pid.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/steer-pid.py b/steer-pid.py index c996d83..299532d 100644 --- a/steer-pid.py +++ b/steer-pid.py @@ -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 👆 # ============================