oskar/pi-lego-spike
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pid steering

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tymek 2025-07-31 18:35:05 +02:00
parent 0ea853623a
commit be46a20eed
1 changed files with 3 additions and 3 deletions
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steer-pid.py
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@ -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