pid steering

2025-08-01 18:32:24 +02:00 · 2025-08-01 18:32:24 +02:00 · c5f00ffc42
parent ccf48ec1a1
commit c5f00ffc42
1 changed files with 2 additions and 2 deletions
--- a/steer-pid.py
+++ b/steer-pid.py
@ -100,8 +100,8 @@ for chunk in stream.iter_content(chunk_size=1024):
                    v = 0.25

                    p = -x
-                    d = (x - xp) * 1000 / -dtms
-                    i = mri * ip + x * dtms / -10000
+                    d = -(radius/100) * (x - xp) * 1000 / dtms
+                    i = -mri * ip + x * dtms / 10000

                    k = wp * p + wi * i + wd * d