oskar/pi-lego-spike
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pid steering

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tymek 2025-08-01 18:40:34 +02:00
parent 48027822d8
commit 64702e6bac
1 changed files with 4 additions and 4 deletions
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8
steer-pid.py
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@ -92,9 +92,9 @@ for chunk in stream.iter_content(chunk_size=1024):
x = x - 160 x = x - 160
wp = 0.7 wp = 0.6
wd = 0.3 wd = 0.35
wi = 0 wi = 0.05
mri = 0.2 mri = 0.2
v = 0.25 v = 0.25
@ -116,7 +116,7 @@ for chunk in stream.iter_content(chunk_size=1024):
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("PDI: ", p, d, dtms, i) #print("PDI: ", p, d, dtms, i)
print(p, d, speedL, speedR) print(p, d, i, speedL, speedR)
else: else:
ip = 0 ip = 0
# ============================ # ============================