Editing PIDtest
authorJordi <jordiguerrero@gmail.com>
Sun, 14 Feb 2016 12:12:23 +0000 (12:12 +0000)
committerJordi <jordiguerrero@gmail.com>
Sun, 14 Feb 2016 12:12:23 +0000 (12:12 +0000)
PID_test.py

index e4ececd..9c26b3f 100644 (file)
@@ -11,16 +11,19 @@ from Fresonbot import Fresonbot
 robot1 = Fresonbot() # Using Fresonbot class
 
 # Use it variable to describe your trajectory ([x1,y2,x2,y2,....,xn,yn])
 robot1 = Fresonbot() # Using Fresonbot class
 
 # Use it variable to describe your trajectory ([x1,y2,x2,y2,....,xn,yn])
-#it = iter([400,0,400,400,0,400,200,200,0,0,400,0,400,400,0,400,200,200,0,0])
+it = iter([400,0,400,400,0,400,200,200,0,0,400,0,400,400,0,400,200,200,0,0])
 #it = iter([400,0,400,400,0,400,200,200,0,0])
 #it = iter([400,0,400,400,0,400,200,200,0,0])
-it = iter([200,0,200,200,0,200,0,0])
-#it = iter([100,0])
+#it = iter([200,0,200,200,0,200,0,0])
+#it = iter([200,100])
 
 # PID constants
 #Kp = 150
 
 # PID constants
 #Kp = 150
+#Ki = 0.1
+#Kd = 0.001
 Kp = 200
 Kp = 200
-Ki = 0.1
-Kd = 0.001
+Ki = 0.0
+Kd = 0.0
+
 #Change velocityTranslational to increase or decrease velocity
 velocityTranslational = 70 
 
 #Change velocityTranslational to increase or decrease velocity
 velocityTranslational = 70