oskar/pi-lego-spike
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

pid steering

Browse source
This commit is contained in:
tymek 2025-08-01 19:13:14 +02:00
parent c8797cb5bc
commit b695190099
1 changed files with 1 additions and 1 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
steer-pid.py
View file

@ -105,7 +105,7 @@ for chunk in stream.iter_content(chunk_size=1024):
k = wp * p + wi * i + wd * d 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)) speedR = max(-99, v * min(100 - k, 99))
print(p, d, i, speedL, speedR) print(p, d, i, speedL, speedR)
motorL.start(int(speedL)) motorL.start(int(speedL))