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  • 追小球的小车例程里面有没有注释啊,感觉都看不懂啊



    • from pyb import millis
      from math import pi, isnan
      
      class PID:
          _kp = _ki = _kd = _integrator = _imax = 0
          _last_error = _last_derivative = _last_t = 0
          _RC = 1/(2 * pi * 20)
          def __init__(self, p=0, i=0, d=0, imax=0):
              self._kp = float(p)
              self._ki = float(i)
              self._kd = float(d)
              self._imax = abs(imax)
              self._last_derivative = float('nan')
      
          def get_pid(self, error, scaler):
              tnow = millis()
              dt = tnow - self._last_t
              output = 0
              if self._last_t == 0 or dt > 1000:
                  dt = 0
                  self.reset_I()
              self._last_t = tnow
              delta_time = float(dt) / float(1000)
              output += error * self._kp
              if abs(self._kd) > 0 and dt > 0:
                  if isnan(self._last_derivative):
                      derivative = 0
                      self._last_derivative = 0
                  else:
                      derivative = (error - self._last_error) / delta_time
                  derivative = self._last_derivative + \
                                           ((delta_time / (self._RC + delta_time)) * \
                                              (derivative - self._last_derivative))
                  self._last_error = error
                  self._last_derivative = derivative
                  output += self._kd * derivative
              output *= scaler
              if abs(self._ki) > 0 and dt > 0:
                  self._integrator += (error * self._ki) * scaler * delta_time
                  if self._integrator < -self._imax: self._integrator = -self._imax
                  elif self._integrator > self._imax: self._integrator = self._imax
                  output += self._integrator
              return output
          def reset_I(self):
              self._integrator = 0
              self._last_derivative = float('nan')
      
      


    • 这个module实现了pid算法,后面主程序直接调用这个pid模块即可。

      关于pid的原理,可以参考:

      来自星瞳实验室APP: 用于舵机控制的pid,到底运作原理是什么?那个定义函数没怎么看懂,谁解答下那几个参数怎么改的?https://forum.singtown.com/topic/399