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pid steering

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tymek 2025-08-01 17:59:19 +02:00
parent e6d26d4aa8
commit 97426742f7
1 changed files with 3 additions and 4 deletions
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7
steer-pid.py
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@ -77,7 +77,6 @@ for chunk in stream.iter_content(chunk_size=1024):
cv2.circle(frame, center, radius, (255, 0, 0), 2) cv2.circle(frame, center, radius, (255, 0, 0), 2)
cv2.circle(frame, center, 5, (0, 0, 255), -1) cv2.circle(frame, center, 5, (0, 0, 255), -1)
if int(radius) >= 100: if int(radius) >= 100:
motorL.stop() motorL.stop()
motorR.stop() motorR.stop()
@ -106,8 +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
motorL.start(-v * min(100 + k, 100)) motorL.start(max(0, -v * min(100 + k, 100)))
motorR.start(v * min(100 - k, 100)) motorR.start(max(0, v * min(100 - k, 100)))
xp = x xp = x
ip = i ip = i
@ -116,7 +115,7 @@ for chunk in stream.iter_content(chunk_size=1024):
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)
else: else:
ip=0 ip = 0
# ============================ # ============================
# 👆 KONIEC DETEKCJI PIŁKI 👆 # 👆 KONIEC DETEKCJI PIŁKI 👆
# ============================ # ============================