Exemple #1
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	def stop(self):
		"""
		Stop the robot, by setting the speed to 0, and disabling regulation
		"""
		self.speed = 0
		self.regulate = False
		TwoWheeledRobot.stop(self)
Exemple #2
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	def drive(self, speed, steer = 0, regulate = True):
		"""
		Drive the robot at a certain speed, by default using the compass to
		regulate the robot's heading.

		TODO: Tune PID controller for straight movement.
		"""
		self.regulate = regulate
		if regulate:
			self.speed = speed
		else:
			TwoWheeledRobot.drive(self, speed, steer)
Exemple #3
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	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