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 2025-08-01 18:16:21 +02:00
parent a56abda2cd
commit 1633e56a5e
1 changed files with 2 additions and 2 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

4
steer-pid.py
View file

@ -105,8 +105,8 @@ for chunk in stream.iter_content(chunk_size=1024):
k = wp * p + wi * i + wd * d k = wp * p + wi * i + wd * d
speedL = max(0, -v * min(100 + k, 100)) speedL = max(-100, -v * min(100 + k, 100))
speedR = max(0, v * min(100 - k, 100)) speedR = max(-100, v * min(100 - k, 100))
motorL.start(speedL) motorL.start(speedL)
motorR.start(speedR) motorR.start(speedR)
xp = x xp = x