本文整理汇总了Python中pid.PID.pid方法的典型用法代码示例。如果您正苦于以下问题：Python PID.pid方法的具体用法？Python PID.pid怎么用？Python PID.pid使用的例子？那么恭喜您, 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.PID的用法示例。
在下文中一共展示了PID.pid方法的2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Python代码示例。
示例1: Side
# 需要导入模块: from pid import PID [as 别名]
# 或者: from pid.PID import pid [as 别名]
class Side(object):
"""
Side of the robot with 2 IR sensors
"""
def __init__(self, sensor1, sensor2, ir_device_func, diff_k_values=(0,0,0), dist_k_values=(0,0,0)):
self.sensor1 = sensor1
self.sensor2 = sensor2
self.get_values = ir_device_func
self.diff_pid = PID()
p1,d1,i1 = diff_k_values
# self.diff_pid.set_k_values(1.1, 0.04, 0.0)
self.diff_pid.set_k_values(p1, d1, i1)
self.dist_pid = PID()
p2,d2,i2 = dist_k_values
self.dist_pid.set_k_values(p2, d2, i2)
def get_diff(self):
"""
Get the difference between the 2 sensors
"""
vals = self.get_values()
sens1 = vals[self.sensor1]
sens2 = vals[self.sensor2]
return sens1 - sens2
@lib.api_call
def get_diff_correction(self, timestep, threshold=1000000):
"""
::TODO:: Finish the actual processing
get the motor correction values
"""
diff = self.get_diff()
error = self.diff_pid.pid(0, diff, timestep)
#print threshold, error
if abs(error) < threshold:
return error
else:
print "OUT OF THRESHOLD"
return 0
def get_dist_correction(self, target, timestep):
dist = self.get_distance()
error = self.dist_pid.pid(target, dist, timestep)
return error
def get_distance(self, style="avg"):
vals = self.get_values()
sens1 = vals[self.sensor1]
sens2 = vals[self.sensor2]
if style=="avg":
return (sens1+sens2)/2
elif style == "max":
return max(sens1, sens2)
elif style == "min":
return min(sens1, sens2)示例2: move_smooth_until_wall
# 需要导入模块: from pid import PID [as 别名]
# 或者: from pid.PID import pid [as 别名]
def move_smooth_until_wall(self, direction, side, target, dist=150, t_type="avg"):
direction = direction.lower()
mov_side = self.sides[direction]
mov_target = dist
self.moving = True
time_elapsed = time()
speed = 0
speed_pid = PID()
speed_pid.set_k_values(4, 0.01, 0)
while self.moving:
timestep = time() - time_elapsed
time_elapsed = time()
speed = speed_pid.pid(0, target - mov_side.get_distance(), timestep)
if direction == "east" or direction == "west":
speed = bound(speed, -65, 65)
else:
speed = bound(speed, -65, 65)
self.move_correct(direction, side, mov_target, speed, timestep)
if mov_side.get_distance(t_type) <= target:
self.stop()