From 04922aa737b27449157eba771fa51159d53f591d Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Thu, 4 Nov 2021 22:19:12 -0700
Subject: [PATCH] upload gb url and pid control parameters from the field test

---
 Code/Control/Laptop_Code/constants.py | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/Code/Control/Laptop_Code/constants.py b/Code/Control/Laptop_Code/constants.py
index 9c7c47b..add5d84 100644
--- a/Code/Control/Laptop_Code/constants.py
+++ b/Code/Control/Laptop_Code/constants.py
@@ -31,11 +31,10 @@ Bmax = 127
 threshold = [Lmin, Lmax, Amin, Amax, Bmin, Bmax]
 
 base_speed    = 120
-seeking_speed =  70
+seeking_speed =  50
 LIDAR_Thres   = 300 # mm
 
 
-
 # PID Control in move2ball
 kpx,kix,kdx = 1.2, 0.01, 0.5
 # kpx,kix,kdx = 0.0, 0.00, 0.0
@@ -44,14 +43,21 @@ kpy,kiy,kdy = 1.2, 0.05, 0.9
 
 # PID Control in move2goal
 # kpx_g,kix_g,kdx_g = 1.5, 0.01, 0.5
-kpx_g,kix_g,kdx_g = 2, 0.01, 0.7
+kpx_g,kix_g,kdx_g = 1.6, 0.01, 0.7
 # kpx_g,kix_g,kdx_g = 0.0, 0.0, 0.0
-kpy_g,kiy_g,kdy_g = 1.7, 0.01, 0.7
+kpy_g,kiy_g,kdy_g = 2, 0.01, 0.7
 # kpy_g,kiy_g,kdy_g = 0.0, 0.0, 0.0
 
 # difference between center of AT and center of goal
 AT_goal_Delta =  0 #cm
 
-AT_h1 = 50 # meters
+AT_h1 = 140 # openmv: | esp32_cam:meters
+
+kph,kih,kdh = 1.2,0.01,0.5
+
+# Break between AT detection during ball seeking
+AT_detectBreak = 60
+
+
 
-kph,kih,kdh = 1.2,0.01,0.5
\ No newline at end of file
+url_gb = 'http://10.0.0.5/cam-hi.jpg'  #01
-- 
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