from time import sleep
from i2c import i2c_write_reg, i2c_read_reg
-KP=0.034
-KI=0.02
+KP=0.05
+KI=0.0
KD=0.0
PID_T=0.01
-STEP_PER_M_AVG=4171.4
+STEP_PER_M_AVG=5766.1
eold1 = 0.0
eold2 = 0.0
eold3 = 0.0
elif (motor3 > 255): motor3 = 255
elif (motor3 < -255): motor3 = -255
- print "Wish=", speed3_wish, "Speed=", speed3, "e=", e, "esum=", esum3, "pwm=", motor3, "error=", error
-
if speed4_wish == 0:
motor4 = 0.0
eold4 = 0.0
elif (motor4 > 255): motor4 = 255
elif (motor4 < -255): motor4 = -255
+ print "Wish=", speed4_wish, "Speed=", speed4, "e=", e, "esum=", esum4, "pwm=", motor4, "error=", error
+
set_pwm(motor1, motor2, motor3, motor4)
sleep(PID_T)