From f36a2f1a784efed5dd951e35648fad58f25c385c Mon Sep 17 00:00:00 2001 From: Jens Ahrensfeld Date: Sun, 6 Nov 2016 12:15:53 +0000 Subject: [PATCH] - lasertracker: fixed error to be +/- 100. Adjusted PID params git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@352 b431acfa-c32f-4a4a-93f1-934dc6c82436 --- lasertrack.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/lasertrack.py b/lasertrack.py index 64ef99d..1305260 100755 --- a/lasertrack.py +++ b/lasertrack.py @@ -40,11 +40,11 @@ ap.add_argument("-x", "--width", type=int, default=320, help="width") ap.add_argument("-y", "--height", type=int, default=240, help="height") -ap.add_argument("-kp", "--kp", type=float, default=2.0, # 2.0 +ap.add_argument("-kp", "--kp", type=float, default=1.00, # 1.00 help="kp") -ap.add_argument("-ki", "--ki", type=float, default=0.1, # 0.1 +ap.add_argument("-ki", "--ki", type=float, default=0.05, # 0.05 help="ki") -ap.add_argument("-kd", "--kd", type=float, default=6.0, # 6.0 +ap.add_argument("-kd", "--kd", type=float, default=3.00, # 3.00 help="kd") args = vars(ap.parse_args()) @@ -151,8 +151,8 @@ class LaserTrack(RgbProcess): print ("Visible") self.isVisible = True img1_objects = cv2.rectangle(img1_objects,rect[0],rect[1],(255,0,0),1) - errorX = -100.0*(float(x)/self.res[0] - 0.5) - errorY = -100.0*(float(y)/self.res[1] - 0.5) + errorX = -200.0*(float(x)/self.res[0] - 0.5) + errorY = -200.0*(float(y)/self.res[1] - 0.5) else: if self.isVisible: self.pidCtrlX.reset()