oskar/pi-lego-spike
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pid steering

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tymek 2025-07-31 18:22:20 +02:00
parent 0527e81de9
commit 7d6f5df82d
1 changed files with 4 additions and 2 deletions
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6
steer-pid.py
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@ -101,14 +101,16 @@ for chunk in stream.iter_content(chunk_size=1024):
wi = 0 wi = 0
mri = 0.5 mri = 0.5
v = 0.25
p = x p = x
d = (x - xp) / dtms d = (x - xp) / dtms
i = mri * ip + x * dtms i = mri * ip + x * dtms
k = wp * p + wi * i + wd * d k = wp * p + wi * i + wd * d
motorL.start(min(100 - k, 100)) motorL.start(-v * min(100 - k, 100))
motorR.start(min(100 - k, 100)) motorR.start(v * min(100 - k, 100))
xp = x xp = x
ip += i ip += i