oskar/pi-lego-spike
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pid steering

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tymek 2025-08-01 18:32:24 +02:00
parent ccf48ec1a1
commit c5f00ffc42
1 changed files with 2 additions and 2 deletions
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steer-pid.py
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@ -100,8 +100,8 @@ for chunk in stream.iter_content(chunk_size=1024):
v = 0.25 v = 0.25
p = -x p = -x
d = (x - xp) * 1000 / -dtms d = -(radius/100) * (x - xp) * 1000 / dtms
i = mri * ip + x * dtms / -10000 i = -mri * ip + x * dtms / 10000
k = wp * p + wi * i + wd * d k = wp * p + wi * i + wd * d