本文整理汇总了Python中pid.PID.update_PID方法的典型用法代码示例。如果您正苦于以下问题：Python PID.update_PID方法的具体用法？Python PID.update_PID怎么用？Python PID.update_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.update_PID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: __init__
# 需要导入模块: from pid import PID [as 别名]
# 或者: from pid.PID import update_PID [as 别名]
class SafetyNode:
def __init__(self):
self.safetydistance = 0.5
self.linear_scale = 2.0
self.angular_scale = 2.0
# subscribe to the IsObstacle topic
rospy.Subscriber("IsObstacle", IsObstacle, self.safety_callback)
rospy.Subscriber("LeftSideAngle", Float32, self.left_wall_callback)
rospy.Subscriber("RightSideAngle", Float32, self.right_wall_callback)
# advertise that we'll publish on the cmd_vel topic for ackermann_mux_cmd
self.cmd_vel_pub = rospy.Publisher("vesc/ackermann_cmd_mux/input/safety", AckermannDriveStamped, queue_size=10)
self.wall_pub = rospy.Publisher("/vesc/ackermann_cmd_mux/input/navigation", AckermannDriveStamped, queue_size=10)
# """ Publish to Simulator """
# advertise that we'll publish on the cmd_vel topic for ackermann_mux_cmd
# self.cmd_vel_pub = rospy.Publisher("/racecar/ackermann_cmd_mux/input/teleop", AckermannDriveStamped, queue_size=10) # TODO
# advertise that we'll publish on the ackermann angle topic for ackermann_mux_cmd
# self.wall_pub = rospy.Publisher("/racecar/ackermann_cmd_mux/input/teleop", AckermannDriveStamped, queue_size=10)
#create pid controller
self.p_gain = 1
self.i_gain = 3.5
self.d_gain = 0
self.i_max = 0
self.i_min = 0
self.pid_controller = PID(self.p_gain,self.i_gain,self.d_gain,self.i_max,self.i_min)
# send initial start velocity command
#global frame_id
#global wheelbase
#msg = AckermannDriveStamped()
##msg.header.stamp = rospy.Time.now()
#msg.header.frame_id = frame_id
#msg.drive.steering_angle = 0.0
#msg.drive.speed = 1.0
#self.cmd_vel_pub.publish(msg)
def safety_callback(self, IsObstacle_msg):
global frame_id
global wheelbase
msg = AckermannDriveStamped()
#msg.header.stamp = rospy.Time.now()
#msg.header.frame_id = frame_id
msg.drive.steering_angle = 0.0
# If there is an obstacle, reverse immediately
if IsObstacle_msg.obstacle:
msg.drive.speed = -1.0
else:
msg.drive.speed = 0.0
# publish the velocity command message
self.cmd_vel_pub.publish(msg)
def left_wall_callback(self, Leftsideangle):
data = Leftsideangle.data
# get the output from the PID controller
self.pid_controller.update_PID(data)
output = self.pid_controller.cmd
# then set up a message
msg = AckermannDriveStamped()
msg.drive.steering_angle = -1*math.radians(output)
msg.drive.speed = 1.0
# publish the command message
self.wall_pub.publish(msg)
def right_wall_callback(self, Rightsideangle):
# get the output from the PID controller
data = Rightsideangle.data
self.pid_controller.update_PID(data)
output = self.pid_controller.cmd