def __init__(self, factory):
"""Constructor.
Args:
factory (factory.FactoryCreate)
"""
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.servo = factory.create_servo()
self.sonar = factory.create_sonar()
self.p_controller = PController(k_p=500.0)
self.pd_controller = PDController(k_p=500.0, k_d=50.0)
def __init__(self, factory):
"""Constructor.
Args:
factory (factory.FactoryCreate)
"""
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.odometry = Odometry()
self.pd_controller = PDController(500, 100, -75, 75)
# self.pid_controller = PIDController(500, 100, 0, -75, 75, -50, 50)
self.pid_controller = PIDController(250, 30, 1, -100, 100, -100, 100)
def __init__(self, factory):
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.sonar = factory.create_sonar()
self.servo = factory.create_servo()
# define the gains here
self.kp = 1000
self.kd = 3
self.minOutput = -200
self.maxOutput = 200
# instantiate your controllers here
self.p_controller = PController(self.kp, self.minOutput,
self.maxOutput)
self.pd_controller = PDController(self.kp, self.kd, self.minOutput,
self.maxOutput)