steer-pid.py

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

test.py

@@ -1,18 +0,0 @@
-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