pid steering

steer-pid.py

@@ -93,8 +93,8 @@ for chunk in stream.iter_content(chunk_size=1024):
 
                     x = x - 160
 
-                    wp = 0.8
+                    wp = 1
-                    wd = 0.4
+                    wd = 0
                     wi = 0
                     mri = 0.25
 

test.py

@@ -0,0 +1,18 @@
+import time
+from datetime import datetime
+
+# t1 = datetime.now()
+# time.sleep(1.345345)
+# t2 = datetime.now()
+# dtmicro=t2-t1
+# dtms = dtmicro.seconds * 1000 + dtmicro.microseconds//1000
+
+tprev = datetime.now()
+
+# while True:
+tnow = datetime.now()
+dtmicro = tnow - tprev
+# dtms = dtmicro.seconds * 1000 + dtmicro.microseconds // 1000
+dtms = dtmicro.microseconds
+print(tnow, tprev, dtms)
+tprev = tnow