oskar/pi-lego-spike
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pid steering

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tymek 2025-08-01 18:18:56 +02:00
parent 1633e56a5e
commit d931a8d090
1 changed files with 2 additions and 2 deletions
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steer-pid.py
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@ -105,8 +105,8 @@ for chunk in stream.iter_content(chunk_size=1024):
k = wp * p + wi * i + wd * d k = wp * p + wi * i + wd * d
speedL = max(-100, -v * min(100 + k, 100)) speedL = max(-99, -v * min(100 + k, 99))
speedR = max(-100, v * min(100 - k, 100)) speedR = max(-99, v * min(100 - k, 99))
motorL.start(speedL) motorL.start(speedL)
motorR.start(speedR) motorR.start(speedR)
xp = x xp = x