From a56abda2cd6e4a74be3967d56bcf08a2f8a44da4 Mon Sep 17 00:00:00 2001 From: tymek Date: Fri, 1 Aug 2025 18:11:47 +0200 Subject: [PATCH] pid steering --- steer-pid.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/steer-pid.py b/steer-pid.py index 1c56568..c970695 100644 --- a/steer-pid.py +++ b/steer-pid.py @@ -105,15 +105,18 @@ for chunk in stream.iter_content(chunk_size=1024): k = wp * p + wi * i + wd * d - motorL.start(max(0, -v * min(100 + k, 100))) - motorR.start(max(0, v * min(100 - k, 100))) + speedL = max(0, -v * min(100 + k, 100)) + speedR = max(0, v * min(100 - k, 100)) + motorL.start(speedL) + motorR.start(speedR) xp = x ip = i # (Opcjonalnie) Wypisz pozycję 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) - print("PDI: ", p, d, dtms, i) + #print("PDI: ", p, d, dtms, i) + print(p, d, speedL, speedR) else: ip = 0 # ============================