Editing PIDtest
authorJordi <jordiguerrero@gmail.com>
Sat, 13 Feb 2016 19:46:38 +0000 (19:46 +0000)
committerJordi <jordiguerrero@gmail.com>
Sat, 13 Feb 2016 19:46:38 +0000 (19:46 +0000)
PID_test.py

index 78f3a42..f0544c8 100644 (file)
@@ -18,8 +18,11 @@ it = iter([400,0,400,400,0,400,200,200,0,0,400,0,400,400,0,400,200,200,0,0])
 #it = iter([100,0])
 
 # PID constants
-Kp = 150
+#Kp = 150
+Kp = 200
+#Ki = 0.1
 Ki = 0.1
+#Kd = 0.001
 Kd = 0.001
 
 def changeHeading():
@@ -88,7 +91,7 @@ distanceLeft = 0
 distanceRight = 0
 lastHeadingError = 0
 headingErrorIntegral = 0
-velocityTranslational = 50
+velocityTranslational = 70
 sensitivityLimit = 5
 u = 0
 VelLeft = 50