From cccea8ef37f64d9a4e42d2319b952c695fcacaf2 Mon Sep 17 00:00:00 2001
From: TG <tarik.graba@telecom-paris.fr>
Date: Fri, 6 Sep 2024 16:46:48 +0200
Subject: [PATCH] Local PID example: rename raw speed methods
---
controller/python/localpid.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/controller/python/localpid.py b/controller/python/localpid.py
index 0ba22fe..79138b3 100644
--- a/controller/python/localpid.py
+++ b/controller/python/localpid.py
@@ -50,7 +50,7 @@ def advance(c, distance, max_speed):
):
stable_for += 1
if stable_for >= 10:
- c.set_motor_speed(None, None)
+ c.set_raw_motor_speed(None, None)
break
else:
stable_for = 0
@@ -67,7 +67,7 @@ def advance(c, distance, max_speed):
prev_err_left, prev_err_right = err_left, err_right
command_left = command(err_left, acc_err_left, der_err_left)
command_right = command(err_right, acc_err_right, der_err_right)
- c.set_motor_speed(command_left, command_right)
+ c.set_raw_motor_speed(command_left, command_right)
print(
f"target = {target}, pos = {(pos_left, pos_right)},",
f"speed = {(command_left, command_right)}",
@@ -94,4 +94,4 @@ try:
# advance(c, -10000, 50)
except KeyboardInterrupt:
print("Stopping engine")
- c.set_motor_speed(None, None)
+ c.set_raw_motor_speed(None, None)
--
GitLab