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Anpassung fahre_gerade_aus für negative Strecken #14

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hakimpel merged 1 commit from treffen-291123 into main 2023-11-29 17:01:52 +00:00
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1 changed files with 2 additions and 2 deletions
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iqrobot.py
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@ -128,8 +128,8 @@ class IQRobot:
versatz = self.bewegungsSensor.get_yaw_angle() versatz = self.bewegungsSensor.get_yaw_angle()
sum_versatz = sum_versatz + versatz sum_versatz = sum_versatz + versatz
abweichung = (kp * versatz + ki * sum_versatz) / 100 abweichung = (kp * versatz + ki * sum_versatz) / 100
linker_speed = speed * (1 - abweichung) linker_speed = speed * richtung * (1 - abweichung)
rechter_speed = speed * (1 + abweichung) rechter_speed = speed * richtung * (1 + abweichung)
self.antrieb.start_tank_at_power(int(linker_speed), int(rechter_speed)) self.antrieb.start_tank_at_power(int(linker_speed), int(rechter_speed))
#print("Versatz: " + str(versatz) + " , linker Speed: " + str(linker_speed) + ", rechter Speed: " + str(rechter_speed) + ", strecke: " + str(sum_cm)) #print("Versatz: " + str(versatz) + " , linker Speed: " + str(linker_speed) + ", rechter Speed: " + str(rechter_speed) + ", strecke: " + str(sum_cm))