From be46a20eed41df5d4d24d9c720ae7b3e4af9cbaa Mon Sep 17 00:00:00 2001 From: tymek Date: Thu, 31 Jul 2025 18:35:05 +0200 Subject: [PATCH] pid steering --- steer-pid.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/steer-pid.py b/steer-pid.py index adb5e16..b2cf197 100644 --- a/steer-pid.py +++ b/steer-pid.py @@ -100,14 +100,14 @@ for chunk in stream.iter_content(chunk_size=1024): v = 0.25 - p = x + p = -x d = (x - xp) / dtms i = mri * ip + x * dtms k = wp * p + wi * i + wd * d - motorL.start(-v * min(100 + k, 100)) - motorR.start(v * min(100 + k, 100)) + motorL.start(-v * min(100 - k, 100)) + motorR.start(v * min(100 - k, 100)) xp = x ip += i