oskar/pi-lego-spike
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

pid steering

Browse source
This commit is contained in:
tymek 2025-07-31 18:45:19 +02:00
parent bbaa5c7a4c
commit 1163b74467
1 changed files with 3 additions and 3 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
steer-pid.py
View file

@ -94,7 +94,7 @@ for chunk in stream.iter_content(chunk_size=1024):
x = x - 160 x = x - 160
wp = 0.8 wp = 0.8
wd = 0.2 wd = 0.3
wi = 0 wi = 0
mri = 0.5 mri = 0.5
@ -102,7 +102,7 @@ for chunk in stream.iter_content(chunk_size=1024):
p = -x p = -x
d = (x - xp) * 1000 / dtms d = (x - xp) * 1000 / dtms
i = mri * ip + x * dtms i = mri * ip + x * dtms / 1000
k = wp * p + wi * i + wd * d k = wp * p + wi * i + wd * d
@ -114,7 +114,7 @@ for chunk in stream.iter_content(chunk_size=1024):
# (Opcjonalnie) Wypisz pozycję # (Opcjonalnie) Wypisz pozycję
cv2.putText(frame, f"P:{int(p)} D:{int(d)} I:{int(i)}", (10, 30), 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) cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
print("PID: ", p, d, i) print("PDI: ", p, d, i)
# ============================ # ============================
# 👆 KONIEC DETEKCJI PIŁKI 👆 # 👆 KONIEC DETEKCJI PIŁKI 👆
# ============================ # ============================