问题描述
我在VS Code中安装了Mindstorm EV3扩展程序。我们尝试将此PID控制器导入VS Code Mindstorm Extension。我们该怎么做？我们尝试了“导入PID”，它不起作用...我们试图将PID.py代码粘贴到我们的文件中，它也不起作用。这是Github链接。
https://github.com/ivmech/ivPID
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor,TouchSensor,ColorSensor,InfraredSensor,UltrasonicSensor,GyroSensor)
from pybricks.parameters import Port,Stop,Direction,Button,Color
from pybricks.tools import wait,StopWatch,DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile,ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Variables and constants
ev3 = EV3Brick()
leftMotor = Motor(Port.B,Direction.Clockwise)
rightMotor = Motor(Port.C,Direction.Clockwise)
#left medium motor
mediumMotor = Motor(Port.D,Direction.COUNTERClockwise)
#right medium motor
mediumMotor2 = Motor(Port.A,Direction.COUNTERClockwise)
robot = DriveBase(leftMotor,rightMotor,55.85,108)
robot.settings(300,100,200,100)
rightcolor = ColorSensor(Port.S1)
leftcolor = ColorSensor(Port.S2)
gyroSensor = GyroSensor(Port.S3)
black = 3
white = 30
import time
def linesquare():
leftblack = leftcolor.reflection() > black - 2 and leftcolor.reflection() < black + 2
rightblack = rightcolor.reflection() > black - 2 and rightcolor.reflection() < black + 2
leftMotor.run(200)
rightMotor.run(200)
while not leftblack or not rightblack:
leftblack = leftcolor.reflection() > black - 2 and leftcolor.reflection() < black + 2
rightblack = rightcolor.reflection() > black - 2 and rightcolor.reflection() < black + 2
if leftblack:
leftMotor.brake()
if rightblack:
rightMotor.brake()
leftrange = leftcolor.reflection() > threshold - 2 and leftcolor.reflection() < threshold + 2
rightrange = rightcolor.reflection() > threshold - 2 and rightcolor.reflection() < threshold + 2
while not leftrange or not rightrange:
leftrange = leftcolor.reflection() > threshold - 2 and leftcolor.reflection() < threshold + 2
rightrange = rightcolor.reflection() > threshold - 2 and rightcolor.reflection() < threshold + 2
if leftrange:
leftMotor.brake()
else:
if leftcolor.reflection() > threshold + 2:
leftMotor.run(50)
else:
leftMotor.run(-50)
if rightrange:
rightMotor.brake()
else:
if rightcolor.reflection() > threshold + 2:
rightMotor.run(50)
else:
rightMotor.run(-50)
class PID:
"""PID Controller
"""
def _init_(self,P=0.2,I=0.0,D=0.0,current_time=None):
self.Kp = P
self.Ki = I
self.Kd = D
self.sample_time = 0.00
self.current_time = current_time if current_time is not None else time.time()
self.last_time = self.current_time
self.clear()
def clear(self):
"""Clears PID computations and coefficients"""
self.SetPoint = 0.0
self.PTerm = 0.0
self.ITerm = 0.0
self.DTerm = 0.0
self.last_error = 0.0
# Windup Guard
self.int_error = 0.0
self.windup_guard = 20.0
self.output = 0.0
def update(self,Feedback_value,current_time=None):
"""Calculates PID value for given reference Feedback
.. math::
u(t) = K_p e(t) + K_i \int_{0}^{t} e(t)dt + K_d {de}/{dt}
.. figure:: images/pid_1.png
:align: center
Test PID with Kp=1.2,Ki=1,Kd=0.001 (test_pid.py)
"""
error = self.SetPoint - Feedback_value
self.current_time = current_time if current_time is not None else time.time()
delta_time = self.current_time - self.last_time
delta_error = error - self.last_error
if (delta_time >= self.sample_time):
self.PTerm = self.Kp * error
self.ITerm += error * delta_time
if (self.ITerm < -self.windup_guard):
self.ITerm = -self.windup_guard
elif (self.ITerm > self.windup_guard):
self.ITerm = self.windup_guard
self.DTerm = 0.0
if delta_time > 0:
self.DTerm = delta_error / delta_time
# Remember last time and last error for next calculation
self.last_time = self.current_time
self.last_error = error
self.output = self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm)
def setSampleTime(self,sample_time):
"""PID that should be updated at a regular interval.
Based on a pre-determined sample time,the PID decides if it should compute or return immediately.
"""
self.sample_time = sample_time
#run 1
#robot.straight(610)
#robot.turn(-45)
pid = PID(0.9,1,0.001)
pid.setSampleTime(0.01)
pid.SetPoint=(black + white) / 2
Feedback = rightcolor.reflection()
#robot.reset()
print(pid.last_time)
print(pid.current_time)
print(time.time())
while robot.distance() < 960:
print(pid.last_time)
print(pid.current_time)
print(time.time())
pid.update(Feedback)
robot.drive(200,pid.output)
Feedback = rightcolor.reflection()
robot.turn(90)
robot.straight(-500)
linesquare()
robot.straight(1200)
mediumMotor.run_time(300,3000)
任何想法都有帮助！
解决方法
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