22 lines
560 B
Python
22 lines
560 B
Python
from utils import PidWrap
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# 巡线误差
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lane_error = 0
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# 进入任务时可以通过修改 task_speed 控制巡线速度
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task_speed = 0
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# pid 参数
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pid_argv = {"kp" : 1.2, "ki" : 0, "kd" : 0} # 1.2
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# 转向 pid 对象
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# pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=70) # FIXME 6_9 模型为 60
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pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=60) # FIXME 6_9 模型为 60
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llm_text = ''
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skip_llm_task_flag = False
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first_block = None
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second_block = None
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switch_lane_model = False |