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pid steering

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tymek 2025-08-01 17:38:34 +02:00
parent 77a18464f9
commit a0ab0e15d0
1 changed files with 4 additions and 2 deletions
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6
steer-pid.py
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@ -96,7 +96,7 @@ for chunk in stream.iter_content(chunk_size=1024):
wp = 0.7 wp = 0.7
wd = 0.3 wd = 0.3
wi = 0 wi = 0
mri = 0.1 mri = 0.2
v = 0.25 v = 0.25
@ -109,12 +109,14 @@ for chunk in stream.iter_content(chunk_size=1024):
motorL.start(-v * min(100 + k, 100)) motorL.start(-v * min(100 + k, 100))
motorR.start(v * min(100 - k, 100)) motorR.start(v * min(100 - k, 100))
xp = x xp = x
ip += i # FIXME(oka): to jest blad ip = i
# (Opcjonalnie) Wypisz pozycję # (Opcjonalnie) Wypisz pozycję
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)
else:
ip=0
# ============================ # ============================
# 👆 KONIEC DETEKCJI PIŁKI 👆 # 👆 KONIEC DETEKCJI PIŁKI 👆
# ============================ # ============================