Bound in the rate of turn controller.

master
Michael Hope 9 years ago
parent 22bb0ba309
commit e9322bdbbe
  1. 13
      rover/rover.go

@ -66,10 +66,19 @@ func main() {
StubPorts: false,
Controller: "heading",
TargetSize: 2,
SteeringOffset: -0.1,
SteeringOffset: -0.06,
}
config.Add("Options", "", options)
rotPID := &rover.PID{
Kp: 0.15,
Ki: 0.35,
UMax: 1.0,
UMin: -1.0,
TiLimit: 0.2,
}
config.Add("Rate of turn", "rot", rotPID)
headingPID := &rover.PID{
Kp: 1,
UMax: 0.3,
@ -116,6 +125,8 @@ func main() {
controller = &rover.SysIdentController{}
case "speed":
controller = &rover.SpeedController{PID: speedPID}
case "rot":
controller = &rover.ROTController{PID: rotPID}
case "heading":
controller = &rover.HeadingController{PID: headingPID}
case "waypoint":

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