From 449f7962027ac75b68db4eb1b2601c89b7e199d8 Mon Sep 17 00:00:00 2001 From: tymek Date: Thu, 31 Jul 2025 19:15:02 +0200 Subject: [PATCH] pid steering --- steer-pid.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/steer-pid.py b/steer-pid.py index 6e63566..1a43370 100644 --- a/steer-pid.py +++ b/steer-pid.py @@ -93,16 +93,16 @@ for chunk in stream.iter_content(chunk_size=1024): x = x - 160 - wp = 0.8 - wd = 0.2 + wp = 0.7 + wd = 0.3 wi = 0 - mri = 0.25 + mri = 0.1 v = 0.25 p = -x d = (x - xp) * 1000 / dtms - i = mri * ip + x * dtms / 1000 + i = mri * ip + x * dtms / 10000 k = wp * p + wi * i + wd * d