George_Andreou/Robotex-Rally
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Γιώργος Αντρέου 2025-06-23 02:45:48 +03:00
parent 8a4d596090
commit 3e343a5c68
1 changed files with 7 additions and 6 deletions
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13
rally.py
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@ -24,8 +24,8 @@ DECAY_MODE = motor.SLOW_DECAY
UPDATE_RATE = 100 # Hz UPDATE_RATE = 100 # Hz
SLEEP_TIME = 1 / UPDATE_RATE SLEEP_TIME = 1 / UPDATE_RATE
BASE_THROTTLE = 0.9 # Base throttle for both motors BASE_THROTTLE = 0.9 # Base throttle for both motors
Kp_sync = 0.05 # Proportional gain for sync correction Kp_sync = 0.08 # Proportional gain for sync correction
Kd_sync = 0.001 Kd_sync = 0.008
prev_error = 0 prev_error = 0
# Create a digitalinout object for the user switch # Create a digitalinout object for the user switch
@ -93,11 +93,12 @@ while True:
if avg >= target_dist: if avg >= target_dist:
print("Target reached!!!") print("Target reached!!!")
mot_left.throttle = left_throttle mot_left.throttle = 0
mot_right.throttle = right_throttle mot_right.throttle = 0
break break
mot_right.throttle = 1 mot_right.throttle = - right_throttle
mot_left.throttle = - 1 mot_left.throttle = - left_throttle
time.sleep(0.05) time.sleep(0.05)
print("Finished!!!")