from accel import Accel import time from PID import PID accelorometer = Accel() accelorometer.wakeFromSleep() startTimeForCalibration = time.time() numReadings = 0 sumReadings= 0 while time.time() < (startTimeForCalibration+10.0): numReadings += 1 sumReadings += accelorometer.getReadingX() meanReading = 0 - (sumReadings / numReadings) start_time = time.time() # Set up the PID control system pid = PID(P=1, I=1, D=1, Derivator=0, Integrator=0, Integrator_max=50, Integrator_min=-50) for i in range (0,1000):
from accel import Accel from PID import PID from motorPWM import MotorDriverHandler import time # train the accelorometer startTimeForCalibration = time.time() numReadings = 0 sumReadings= 0 trainingAccel = Accel(0) trainingAccel.wakeFromSleep() while time.time() < (startTimeForCalibration+4.0): sumReadings += trainingAccel.getReadingX() numReadings += 1 meanReading = 0 - (sumReadings / numReadings) # Set up the accelorometer accelorometer = Accel(meanReading) accelorometer.wakeFromSleep() # Set up the PID control system pid = PID(P=3, I=0, D=0, Derivator=0, Integrator=0, Integrator_max=50, Integrator_min=-50) # Set up the motor driver handler