def __init__(self): TwoWheeledRobot.__init__(self) self.compass = Compass() self.regulator = PID( getInput = lambda: self.compass.heading, setOutput = lambda x: TwoWheeledRobot.drive(self, speed = self.speed, steer = x), outputRange = (-100, 100), iLimit = 0.25 ) #self.regulator.tuneFromZieglerNichols(2.575, 0.698) #PID settings self.regulator.kp = 2.75 #3.2 #1.500 # FIRST this number started at 0 and was raised until it started to oscillate self.regulator.ki = 1.5 #0.175 # THIRD we changed until it stopped dead on. self.regulator.kd = 0.2 #0.194 #0.080 # SECOND we changed kd until the amount it overshot by was reduced self.regulator.start() self.speed = 0
