i=0 INIT_END=0 #Programme d'initialisation de la camera sans tout decalisser (pid vraiment lent) acc.ReadIMU(1) acc.ReadIMU(1) pidroll.finderror(acc.roll,SET_ANGLE_ROLL) pidpitch.finderror(acc.pitch,SET_ANGLE_PITCH) OldTime = time.time() #Initialisation Cycle while i == 1: # Minimum of 10 cycle for init acc.ReadIMU(1) pidroll.finderror(acc.roll,SET_ANGLE_ROLL) pidpitch.finderror(acc.pitch,SET_ANGLE_PITCH) pidroll.Ki= .01 pidroll.Kp = .3 pidpitch.Ki = pidroll.Ki pidpitch.Kp = pidroll.Kp sroll.vit_move_pid(pidroll) spitch.vit_move_pid(pidpitch) print sroll.position print"JINITIALISE !!!!", pidroll.error if abs(pidroll.error * pidpitch.error) < .3 : i=i+1 else: i=0 INIT_END=1
