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feat: 增加任务段pid参数设置

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bmy
2024-06-15 22:04:11 +08:00
parent db6ec06441
commit ac72d1e3e6
5 changed files with 132 additions and 27 deletions
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18
majtask.py
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@@ -4,7 +4,7 @@ import time
import numpy as np
from loguru import logger
import utils
from utils import PidWrap
import variable as var
class main_task():
def __init__(self,by_cmd):
@@ -22,9 +22,9 @@ class main_task():
self.by_cmd = by_cmd
# 转向 pid
# self.pid1 = PidWrap(0.5, 0, 0, output_limits=55) # 1.2
self.pid1 = PidWrap(1.2, 0, 0, output_limits=50) # 1.2
self.pid1.set_target(0)
# var.pid_turning = PidWrap(0.5, 0, 0, output_limits=55) # 1.2
# pid 参数在
var.pid_turning.set_target(0)
def parse_data(self,data):
if data.get('code') == 0:
@@ -55,7 +55,7 @@ class main_task():
self.x = self.x / 3
self.y = self.y / 3
self.lane_error = self.x - 160
utils.lane_error = self.lane_error # 赋全局变量
var.lane_error = self.lane_error # 赋全局变量
self.error_counts = 0
self.x = 0
self.y = 0
@@ -88,11 +88,11 @@ class main_task():
# else:
# speed = 18
if utils.task_speed != 0:
speed = utils.task_speed
if var.task_speed != 0:
speed = var.task_speed
self.by_cmd.send_speed_x(speed)
# pid_out = self.pid1.get(self.lane_error*0.65)
pid_out = self.pid1.get(self.lane_error)
# pid_out = var.pid_turning.get(self.lane_error*0.65)
pid_out = var.pid_turning.get(self.lane_error)
# pid_out = -pid_out
# logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
self.by_cmd.send_speed_omega(pid_out)