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Chapter 12 TR

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This commit is contained in:
Danny Staple 2023-01-04 23:11:28 +00:00
parent fe92edb605
commit 9fa461fb2a
2 changed files with 6 additions and 7 deletions
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5
ch-12/3-always-face-north/code.py
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@ -30,13 +30,14 @@ async def control_loop():
angle = robot.imu.euler[0]
controller.update(dt, angle)
robot.uart.write(f"{angle}, 0\n".encode())
robot.send_line(f"{angle}, 0")
async def main():
while not robot.check_imu_status():
await asyncio.sleep(0.1)
robot.uart.write("Ready to go!\n".encode())
robot.send_line("Ready to go!")
# Wait for start signal
while True:
if robot.uart.in_waiting:

8
ch-12/4-make-known-turn/code.py
View File

@ -5,9 +5,8 @@ import time
class IMUTurnController:
def __init__(self):
self.pid = pid_controller.PIDController(0.01, 0.008, 0)
self.pid = pid_controller.PIDController(0.01, 0.010, 0)
self.target = 0
self.error = 0
def update(self, dt, angle):
error = self.target - angle
@ -15,7 +14,6 @@ class IMUTurnController:
error -= 360
elif error < -180:
error += 360
self.error = error
control_signal = self.pid.calculate(error, dt)
robot.set_left(control_signal)
robot.set_right(-control_signal)
@ -48,13 +46,13 @@ async def control_loop():
angle = robot.imu.euler[0]
controller.update(dt, angle)
robot.uart.write(f"{controller.error}, 0\n".encode())
robot.send_line(f"{angle}, 0")
async def main():
while not robot.check_imu_status():
await asyncio.sleep(0.1)
robot.uart.write("Ready to go!\n".encode())
robot.send_line("Ready to go!")
await control_loop()