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 2025-07-31 18:35:05 +02:00
parent 0ea853623a
commit be46a20eed
1 changed files with 3 additions and 3 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
steer-pid.py
View file

@ -100,14 +100,14 @@ for chunk in stream.iter_content(chunk_size=1024):
v = 0.25 v = 0.25
p = x p = -x
d = (x - xp) / dtms d = (x - xp) / dtms
i = mri * ip + x * dtms i = mri * ip + x * dtms
k = wp * p + wi * i + wd * d k = wp * p + wi * i + wd * d
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 ip += i