oskar/pi-lego-spike
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pid steering

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tymek 2025-08-01 19:13:14 +02:00
parent c8797cb5bc
commit b695190099
1 changed files with 1 additions and 1 deletions
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steer-pid.py
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@ -105,7 +105,7 @@ for chunk in stream.iter_content(chunk_size=1024):
k = wp * p + wi * i + wd * d
speedL = max(-99, -v * min(100 + k, 99))
speedL = -1 * max(-99, v * min(100 + k, 99))
speedR = max(-99, v * min(100 - k, 99))
print(p, d, i, speedL, speedR)
motorL.start(int(speedL))