本文整理汇总了C++中PID::TotalError方法的典型用法代码示例。如果您正苦于以下问题：C++ PID::TotalError方法的具体用法？C++ PID::TotalError怎么用？C++ PID::TotalError使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类PID的用法示例。
在下文中一共展示了PID::TotalError方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main()
{
uWS::Hub h;
PID pid;
// TODO: Initialize the pid variable.
//pid.Init(0.2, 0.0004, 4);
pid.Init(0.2, 0.004, 0.3);
pid.Init(0.2, 0.005, 2);
//pid.Init(0.2, 0.004, 3);
pid.Init(0.2, 0.004, 2);
pid.Init(0.2, 0.004, 4);
h.onMessage([&pid](uWS::WebSocket<uWS::SERVER> ws, char *data, size_t length, uWS::OpCode opCode) {
// "42" at the start of the message means there's a websocket message event.
// The 4 signifies a websocket message
// The 2 signifies a websocket event
if (length && length > 2 && data[0] == '4' && data[1] == '2')
{
auto s = hasData(std::string(data).substr(0, length));
if (s != "") {
auto j = json::parse(s);
std::string event = j[0].get<std::string>();
if (event == "telemetry") {
// j[1] is the data JSON object
double cte = std::stod(j[1]["cte"].get<std::string>());
double speed = std::stod(j[1]["speed"].get<std::string>());
double angle = std::stod(j[1]["steering_angle"].get<std::string>());
double steer_value;
/*
* TODO: Calcuate steering value here, remember the steering value is
* [-1, 1].
* NOTE: Feel free to play around with the throttle and speed. Maybe use
* another PID controller to control the speed!
*/
pid.UpdateError(cte);
steer_value = pid.TotalError();
// DEBUG
std::cout << "CTE: " << cte << " Steering Value: " << steer_value << std::endl;
json msgJson;
msgJson["steering_angle"] = steer_value;
msgJson["throttle"] = 0.3;
auto msg = "42[\"steer\"," + msgJson.dump() + "]";
std::cout << msg << std::endl;
ws.send(msg.data(), msg.length(), uWS::OpCode::TEXT);
}
} else {
// Manual driving
std::string msg = "42[\"manual\",{}]";
ws.send(msg.data(), msg.length(), uWS::OpCode::TEXT);
}
}
});
// We don't need this since we're not using HTTP but if it's removed the program
// doesn't compile :-(
h.onHttpRequest([](uWS::HttpResponse *res, uWS::HttpRequest req, char *data, size_t, size_t) {
const std::string s = "<h1>Hello world!</h1>";
if (req.getUrl().valueLength == 1)
{
res->end(s.data(), s.length());
}
else
{
// i guess this should be done more gracefully?
res->end(nullptr, 0);
}
});
h.onConnection([&h](uWS::WebSocket<uWS::SERVER> ws, uWS::HttpRequest req) {
std::cout << "Connected!!!" << std::endl;
});
h.onDisconnection([&h](uWS::WebSocket<uWS::SERVER> ws, int code, char *message, size_t length) {
ws.close();
std::cout << "Disconnected" << std::endl;
});
int port = 4567;
if (h.listen(port))
{
std::cout << "Listening to port " << port << std::endl;
}
else
{
std::cerr << "Failed to listen to port" << std::endl;
return -1;
}
h.run();
}