X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fpid_manual.py;h=6806f629e12a2f13e8f02293282bcaf723c8f748;hp=77a7bce3f39a40cbef907d60296db2f6f5cfb313;hb=a1ad723335b2f3e28a5a69cf8f60993951f3d6cf;hpb=f01d69d0a1b761c2d7c4f662b5be998fc1a889c8

diff --git a/scripts/pid_manual.py b/scripts/pid_manual.py
index 77a7bce..6806f62 100755
--- a/scripts/pid_manual.py
+++ b/scripts/pid_manual.py
@@ -6,11 +6,11 @@ import struct
 from time import sleep
 from i2c import i2c_write_reg, i2c_read_reg
 
-KP=0.034
-KI=0.02
+KP=0.06
+KI=0.10
 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
@@ -19,6 +19,7 @@ esum1 = 0.0
 esum2 = 0.0
 esum3 = 0.0
 esum4 = 0.0
+PWM_BREAK = -32768
 speed1_wish=float(sys.argv[1])*STEP_PER_M_AVG
 speed2_wish=float(sys.argv[1])*STEP_PER_M_AVG
 speed3_wish=float(sys.argv[2])*STEP_PER_M_AVG
@@ -45,11 +46,13 @@ if __name__ == "__main__":
 			motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1)
 			eold1 = e
 
-			if (motor1 < 0 and speed1_wish > 0): motor1 = 0	
-			elif (motor1 > 0 and speed1_wish < 0): motor1 = 0	
+			if (motor1 < 0 and speed1_wish > 0): motor1 = PWM_BREAK	
+			elif (motor1 > 0 and speed1_wish < 0): motor1 = PWM_BREAK
 			elif (motor1 > 255): motor1 = 255
 			elif (motor1 < -255): motor1 = -255
 
+			print "Wish=", speed1_wish, "Speed=", speed1, "e=", e, "esum=", esum1, "pwm=", motor1, "error=", error
+
 		if speed2_wish == 0: 
 			motor2 = 0.0
 			eold2 = 0.0
@@ -60,8 +63,8 @@ if __name__ == "__main__":
 			motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2)
 			eold2 = e
 
-			if (motor2 < 0 and speed2_wish > 0): motor2 = 0	
-			elif (motor2 > 0 and speed2_wish < 0): motor2 = 0	
+			if (motor2 < 0 and speed2_wish > 0): motor2 = PWM_BREAK
+			elif (motor2 > 0 and speed2_wish < 0): motor2 = PWM_BREAK
 			elif (motor2 > 255): motor2 = 255
 			elif (motor2 < -255): motor2 = -255
 
@@ -75,13 +78,11 @@ if __name__ == "__main__":
 			motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3)
 			eold3 = e
 
-			if (motor3 < 0 and speed3_wish > 0): motor3 = 0	
-			elif (motor3 > 0 and speed3_wish < 0): motor3 = 0	
+			if (motor3 < 0 and speed3_wish > 0): motor3 = PWM_BREAK
+			elif (motor3 > 0 and speed3_wish < 0): motor3 = PWM_BREAK
 			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
@@ -92,11 +93,13 @@ if __name__ == "__main__":
 			motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4)
 			eold4 = e
 
-			if (motor4 < 0 and speed4_wish > 0): motor4 = 0	
-			elif (motor4 > 0 and speed4_wish < 0): motor4 = 0	
+			if (motor4 < 0 and speed4_wish > 0): motor4 = PWM_BREAK
+			elif (motor4 > 0 and speed4_wish < 0): motor4 = PWM_BREAK
 			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)