Python setPIDValues Beispiele

Beispiel #1

Datei: print_keyboard_event.py Projekt: mfkiwl/FPGA-robotics

import control_functions

# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Derecha	Delante Gira
#control_functions.setPIDValues(0,		0,		128, 	128, 	128)	# Kp_altura, Offsets: Derecha/Izquierda, Delante/Detras, GiroIzquierda/Derecha

# -------------------------------------- Flight -------------------------------------- #
# Takeoff
print('Taking off...')
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Derecha	Delante Gira
control_functions.setPIDValues(
    0, 0, 128, 128, 128)  # Kp_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setcontrols(65, 128, 128, 128, 0.5)  # Aprox to 1,04m height

# Flight
print('Fliying...')
# Set Flight Parameters		  Arriba	Derecha		Delante 	Gira 	Order Duration

# Landing
print('Landing...')
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration

Beispiel #2

Datei: print_keyboard_event.py Projekt: mfkiwl/FPGA-robotics

import control_functions

# -------------------------------------- Flight -------------------------------------- #
# Takeoff
print('Taking off...')
# ------------ ETAPA 1 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(64, 4, 50, 40, 0, 0, 128)  # Con XY
#control_functions.setPIDValues(64,		4,		0,		0, 		0, 		0,		128)	# Sin XY
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setcontrols(20, 128, 128, 128, 2.5)
# ------------ ETAPA 2 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
#control_functions.setPIDValues(30,		16,		0,		32, 	0, 		0,		128)
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
#control_functions.setcontrols(20, 	128, 	128, 	128, 	1)
# ------------ ETAPA 3 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
#control_functions.setPIDValues(50,		16,		0,		32, 	0, 		0,		128)
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
#control_functions.setcontrols(30, 	128, 	128, 	128, 	4)

# Flight
#print('Fliying...')

# Landing
print('Landing...')
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(40, 4, 8, 30, 0, 0, 128)  # Con XY
#control_functions.setPIDValues(64,		4,		0,		0,	 	0, 		0,		128)	# Sin XY
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration

Beispiel #3

Datei: 03_AvanceYRetroceso_Bat_M_Full_load.py Projekt: mfkiwl/FPGA-robotics

alt_kd = 100
xy_kp = 10
xy_ki = 255
xy_kd = 50

# Tensados
alt_kp = 90
alt_ki = 3
alt_kd = 125
xy_kp = 11
xy_ki = 255
xy_kd = 50

# --------------------------- TAKE OFF ---------------------------
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(0, alt_ki, 0, xy_kp, xy_ki, xy_kd,
                               128)  # Con XY
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setcontrols(20, 128, 128, 128, 0.5)
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(alt_kp, alt_ki, alt_kd, xy_kp, xy_ki, xy_kd,
                               128)  # Con XY
control_functions.setcontrols(20, 128, 128, 128, 2.5)

# --------------------------- FLIGHT ---------------------------
# Avanza
print('Flight...')
flight_Delante = 240
flight_Derecha = 128
flight_GiroDer = 128
# Set Flight Parameters	   AA 	DI				DD 				GID  			Duration	Steps
control_functions.settrace(20, flight_Derecha, flight_Delante, flight_GiroDer,

Beispiel #4

Datei: print_keyboard_event.py Projekt: mfkiwl/FPGA-robotics

import control_functions



# -------------------------------------- Flight -------------------------------------- #
# Takeoff
print('Taking off...')
# ------------ ETAPA 1 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(20,		8,		0,		32, 	0, 		0,		128)
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setcontrols(20, 	128, 	128, 	128, 	1)
# ------------ ETAPA 2 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(30,		16,		0,		32, 	0, 		0,		128)
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setcontrols(20, 	128, 	128, 	128, 	1)
# ------------ ETAPA 3 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(50,		16,		0,		32, 	0, 		0,		128)
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setcontrols(30, 	128, 	128, 	128, 	4)



# Flight
#print('Fliying...')
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
#control_functions.setPIDValues(40,		16,		0,		30, 	0, 		0,		128)

Beispiel #5

Datei: print_keyboard_event - Copy (2).py Projekt: mfkiwl/FPGA-robotics

import control_functions

# -------------------------------------- Flight -------------------------------------- #
# Takeoff
print('Taking off...')
# ------------ ETAPA 1 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(64, 4, 40, 45, 0, 200, 128)  # Con XY
#control_functions.setPIDValues(64,		4,		0,		0, 		0, 		0,		128)	# Sin XY
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setcontrols(25, 128, 128, 128, 5)
# ------------ ETAPA 2 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
#control_functions.setPIDValues(30,		16,		0,		32, 	0, 		0,		128)
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
#control_functions.setcontrols(20, 	128, 	128, 	128, 	1)
# ------------ ETAPA 3 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
#control_functions.setPIDValues(50,		16,		0,		32, 	0, 		0,		128)
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
#control_functions.setcontrols(30, 	128, 	128, 	128, 	4)

# Flight
#print('Fliying...')

# Landing
print('Landing...')
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setcontrols(15, 128, 128, 128, 0.8)
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(64, 16, 0, 0, 0, 0, 128)

Beispiel #6

Datei: Apagado_emergencia.py Projekt: mfkiwl/FPGA-robotics

import control_functions

# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Derecha	Delante Gira
#control_functions.setPIDValues(0,		0,		128, 	128, 	128)	# Kp_altura, Offsets: Derecha/Izquierda, Delante/Detras, GiroIzquierda/Derecha

# -------------------------------------- Flight -------------------------------------- #
print('STOP...')
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setPIDValues(50, 16, 128, 128,
                               128)  # Alt_Kp	Alt_Ki	Derecha	Delante Gira
control_functions.setcontrols(10, 128, 128, 128, 1)  # Aprox to 1,04m height
control_functions.setcontrols(0, 128, 128, 128, 0.5)  # Aprox to 1,04m height

Beispiel #7

Datei: print_keyboard_event.py Projekt: mfkiwl/FPGA-robotics

import control_functions

# -------------------------------------- Flight -------------------------------------- #
# Takeoff
print('Taking off...')
#xy_kp = 35;
# ------------ ETAPA 1 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setPIDValues(75, 4, 100, 40, 0, 100, 128)  # Con XY
#control_functions.setPIDValues(64,		4,		0,		0, 		0, 		0,		128)	# Sin XY
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setcontrols(22, 128, 128, 128, 5)
# ------------ ETAPA 2 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
#control_functions.setPIDValues(30,		16,		0,		32, 	0, 		0,		128)
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
#control_functions.setcontrols(20, 	128, 	128, 	128, 	1)
# ------------ ETAPA 3 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
#control_functions.setPIDValues(50,		16,		0,		32, 	0, 		0,		128)
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
#control_functions.setcontrols(30, 	128, 	128, 	128, 	4)

# Flight
#print('Fliying...')

# Landing
print('Landing...')
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro
control_functions.setcontrols(15, 128, 128, 128, 0.8)
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	XY_Kp	XY_Ki	XY_Kd 	Giro

Beispiel #8

import control_functions

# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Derecha	Delante Gira
#control_functions.setPIDValues(0,		0,		128, 	128, 	128)	# Kp_altura, Offsets: Derecha/Izquierda, Delante/Detras, GiroIzquierda/Derecha






# -------------------------------------- Flight -------------------------------------- #
# Takeoff
print('Taking off...')
# ------------ ETAPA 1 ------------ #
# Set Trim & PID Parameters	   Alt_Kp	Alt_Ki	Alt_Kd	Derecha	Delante Gira
control_functions.setPIDValues(20,		8,		0,		130, 	125, 	128)	# Kp_altura, Ki_altura, Kd_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der
# Set Flight Parameters		  AA 	DI		DD 		GID 	Order Duration
control_functions.setcontrols(20, 	128, 	128, 	128, 	1)	# 
# ------------ ETAPA 2 ------------ #
control_functions.setPIDValues(40,		16,		0,		130, 	125, 	128)	# Kp_altura, Ki_altura, Kd_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der
control_functions.setcontrols(20, 	128, 	128, 	128, 	1)	# AA 	DI		DD 		GID 	Order Duration
# ------------ ETAPA 3 ------------ #
control_functions.setPIDValues(40,		16,		0,		130, 	125, 	128)	# Kp_altura, Ki_altura, Kd_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der
control_functions.setcontrols(30, 	128, 	128, 	128, 	1)	# AA 	DI		DD 		GID 	Order Duration




# Flight
#print('Fliying...')
# ------------ ETAPA 2 ------------ #