Ch-10 TR feedback

2022-12-17 16:05:25 +00:00
parent b2228889e8
commit 45ba981386
4 changed files with 20 additions and 19 deletions
@@ -25,7 +25,8 @@ while True:
    current_time = time.monotonic()
    deflection = distance_controller.calculate(error, current_time - prev_time)
    prev_time = current_time
-    uart.write(f"{error},{deflection}\n".encode()) # ,{distance_controller.derivative}
+    uart.write(f"{error},{deflection},"
+      f"{distance_controller.derivative}\n".encode())
    if motors_active:
      robot.set_left(speed - deflection)
      robot.set_right(speed + deflection)