本文整理汇总了Python中pid.PID.set_params方法的典型用法代码示例。如果您正苦于以下问题：Python PID.set_params方法的具体用法？Python PID.set_params怎么用？Python PID.set_params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.set_params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Python代码示例。
示例1: Controller
# 需要导入模块: from pid import PID [as 别名]
# 或者: from pid.PID import set_params [as 别名]
class Controller(object):
def __init__(self, yaw_controller, p_brake):
# TODO: Implement
# defining 2 PID controllers
self.throttle_pid = PID(kp=0.4, ki=0.02, kd=0.7, mn=-1.0, mx=1.0)
self.brake_pid = PID(kp=p_brake, ki=0.0, kd=0.0, mn=0.0, mx=100000.)
self.yaw_controller = yaw_controller
self.des_speed_filter = LowPassFilter2(1.5, 0.)
self.throttle_brake_offs = -1.0
self.throttle_direct = 0.0
self.standstill_velocity = 0.01
self.standstill_brake = -2.0*p_brake*self.throttle_brake_offs
self.standstill_filter_time = 0.75
self.standstill_filter = LowPassFilter2(self.standstill_filter_time, 0.0)
# take 2 secs to reach max speed, init speed = 0.
#def control(self, delta_time, lin_vel_err, ang_vel_err):
def control(self, delta_time, linear_velocity, angular_velocity, current_velocity):
# TODO: Change the arg, kwarg list to suit your needs
# Return throttle, brake, steer
#rospy.logwarn(lin_vel_err)
filt_linear_velocity = self.des_speed_filter.filt(linear_velocity, delta_time)
filt_lin_vel_err = filt_linear_velocity - current_velocity
lin_vel_err = linear_velocity - current_velocity
throttle_ = self.throttle_pid.step(filt_lin_vel_err, delta_time) + self.throttle_direct * linear_velocity
if throttle_ < 0.0:
throttle_ = 0.0
brake_ = self.brake_pid.step(-(lin_vel_err-self.throttle_brake_offs), delta_time)
#rospy.logwarn(self.throttle_pid.get_state())
if lin_vel_err > self.throttle_brake_offs:
#self.brake_pid.reset()
if linear_velocity < self.standstill_velocity and lin_vel_err < 0.0:
brake_ = self.standstill_filter.filt(self.standstill_brake, delta_time)
throttle_ = 0.
self.throttle_pid.reset()
rospy.logwarn("--- standstill --- "+str(brake_))
else:
brake_ = 0.
self.standstill_filter.init(0.)
elif lin_vel_err <= self.throttle_brake_offs:
self.throttle_pid.reset()
throttle_ = 0.
self.standstill_filter.init(brake_)
rospy.logwarn("--- brake --- "+str(brake_))
else:
throttle_ = 0.
brake_ = 0.
steer_ = self.yaw_controller.get_steering(filt_linear_velocity, angular_velocity, current_velocity)
#rospy.logwarn(str(linear_velocity)+" "+str(current_velocity)+" "+str(throttle_)+" "+str(brake_)+" "+str(steer_))
return throttle_, brake_, steer_
def init(self, curr_lin_vel):
self.throttle_pid.reset()
self.brake_pid.reset()
self.des_speed_filter.init(curr_lin_vel)
self.standstill_filter.init(0.0)
def reload_params(self):
#rospy.logwarn(os.path.dirname(os.path.realpath(__file__)))
fn=os.path.dirname(os.path.realpath(__file__))+"/controlparams.json"
with open(fn) as json_data:
d = json.load(json_data)
speed_err = d['speed_err']
self.throttle_pid.set_params(speed_err['p'], speed_err['i'], speed_err['d']);
self.throttle_direct = d['throttle_direct']
self.des_speed_filter.set_tau(d['lowpass_linvel'])
self.throttle_brake_offs = d['throttle_brake_offs']
standstill = d['standstill']
self.standstill_velocity = standstill['velocity']
self.standstill_brake = standstill['brake']
self.standstill_filter_time = standstill['filter_time']
self.standstill_filter.set_tau(self.standstill_filter_time)