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feat: 更新校准方法

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bmy
2024-06-05 16:07:32 +08:00
parent 4c1cf9ceb0
commit b787ce6ed0
6 changed files with 537 additions and 303 deletions
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6
majtask.py
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@@ -1,3 +1,4 @@
from simple_pid import PID
import zmq
import time
@@ -69,7 +70,7 @@ class main_task():
error_abs = abs(self.lane_error)
if error_abs < 10:
self.pid1.set(0.7, 0, 0)
self.by_cmd.send_speed_x(12)
self.by_cmd.send_speed_x(13) # 12
elif error_abs > 45:
self.by_cmd.send_speed_x(6)
self.pid1.set(1.8, 0, 0)
@@ -84,8 +85,9 @@ class main_task():
self.by_cmd.send_speed_x(11)
# pid_out = self.pid1.get(self.lane_error*0.65)
pid_out = self.pid1.get(self.lane_error*0.75)
pid_out = self.pid1.get(self.lane_error*0.7)
self.by_cmd.send_speed_omega(pid_out)
self.socket.send_string("")
resp = self.socket.recv_pyobj()
# logger.info(resp)