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reset time when stopping controller

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This commit is contained in:
Simon Pirkelmann 2021-09-09 21:36:13 +02:00
parent f3babdcf0a
commit 7962199c3a
1 changed files with 6 additions and 2 deletions
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8
remote_control/pid_controller.py
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@ -70,9 +70,9 @@ class PIDController(ControllerBase):
angles_unwrapped = np.unwrap([x_pred[2], target_angle]) # unwrap angle to avoid jump in data angles_unwrapped = np.unwrap([x_pred[2], target_angle]) # unwrap angle to avoid jump in data
e_angle = angles_unwrapped[0] - angles_unwrapped[1] # angle difference e_angle = angles_unwrapped[0] - angles_unwrapped[1] # angle difference
e_pos = np.linalg.norm(v) e_pos = np.linalg.norm(v[0:2])
if e_pos < 0.05: if e_pos < 0.03:
self.mode = 'angle' self.mode = 'angle'
self.e_angle_old = 0 self.e_angle_old = 0
self.e_pos_old = 0 self.e_pos_old = 0
@ -111,6 +111,10 @@ class PIDController(ControllerBase):
u2 = 0.0 u2 = 0.0
return u1, u2 return u1, u2
def stop(self):
super(PIDController, self).stop()
self.t = None
def apply_control(self, control): def apply_control(self, control):
self.t = time.time() # save time when the most recent control was applied self.t = time.time() # save time when the most recent control was applied
super(PIDController, self).apply_control(control) super(PIDController, self).apply_control(control)