oskar/pi-lego-spike
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pid steering

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tymek 2025-07-31 19:15:02 +02:00
parent e4b6208943
commit 449f796202
1 changed files with 4 additions and 4 deletions
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steer-pid.py
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@ -93,16 +93,16 @@ for chunk in stream.iter_content(chunk_size=1024):
x = x - 160 x = x - 160
wp = 0.8 wp = 0.7
wd = 0.2 wd = 0.3
wi = 0 wi = 0
mri = 0.25 mri = 0.1
v = 0.25 v = 0.25
p = -x p = -x
d = (x - xp) * 1000 / dtms d = (x - xp) * 1000 / dtms
i = mri * ip + x * dtms / 1000 i = mri * ip + x * dtms / 10000
k = wp * p + wi * i + wd * d k = wp * p + wi * i + wd * d