Пример #1
0
	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