ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Ch-11 make teh robot stop.

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Danny Staple
2023-01-05 21:49:49 +00:00
parent 9fa461fb2a
commit f7695b4290
1 changed files with 2 additions and 2 deletions
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ch-11/2-speed-control/code.py
+2 -2
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@@ -28,11 +28,11 @@ class SpeedController:
self.last_ticks = current_ticks self.last_ticks = current_ticks
self.actual_speed = robot.ticks_to_m * speed_in_ticks self.actual_speed = robot.ticks_to_m * speed_in_ticks
# calculate the error # calculate the error
error = (Settings.speed * Settings.motors_enabled) - self.actual_speed error = Settings.speed - self.actual_speed
# calculate the control signal # calculate the control signal
control_signal = self.pid.calculate(error, dt) control_signal = self.pid.calculate(error, dt)
self.pwm += control_signal self.pwm += control_signal
self.motor_fn(self.pwm) self.motor_fn(self.pwm * Settings.motors_enabled)
left = SpeedController(robot.left_encoder, robot.set_left) left = SpeedController(robot.left_encoder, robot.set_left)