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- lasertracker: fixed error to be +/- 100. Adjusted PID params

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git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@352 b431acfa-c32f-4a4a-93f1-934dc6c82436
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jens
2016-11-06 12:15:53 +00:00
parent 58fa1c0f01
commit f36a2f1a78
1 changed files with 5 additions and 5 deletions
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lasertrack.py
+5 -5
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@@ -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()