12 lines
304 B
Python
12 lines
304 B
Python
|
from utils import PidWrap
|
||
|
|
|
||
|
|
# 巡线误差
|
||
|
|
lane_error = 0
|
||
|
|
# 进入任务时可以通过修改 task_speed 控制巡线速度
|
||
|
|
task_speed = 0
|
||
|
|
|
||
|
|
# pid 参数
|
||
|
|
pid_argv = {"kp" : 1.2, "ki" : 0, "kd" : 0}
|
||
|
|
|
||
|
|
# 转向 pid 对象
|
||
|
|
pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=50)
|