diff --git a/Code/Control/Laptop_Code/constants.py b/Code/Control/Laptop_Code/constants.py index 9480d97104083ebf1f76d909b5c6b57a33a8e88e..29a9ce30ba9194d96c9cc782aa9ba20b009b40c2 100644 --- a/Code/Control/Laptop_Code/constants.py +++ b/Code/Control/Laptop_Code/constants.py @@ -30,15 +30,15 @@ Bmin = 31 Bmax = 127 threshold = [Lmin, Lmax, Amin, Amax, Bmin, Bmax] -base_speed = 120 +base_speed = 100 seeking_speed = 50 LIDAR_Thres = 300 # mm # PID Control in move2ball -kpx,kix,kdx = 1.2, 0.01, 0.5 +kpx,kix,kdx = 0.8, 0.01, 0.2 # kpx,kix,kdx = 0.0, 0.00, 0.0 -kpy,kiy,kdy = 1.2, 0.05, 0.9 +kpy,kiy,kdy = 0.9, 0.1, 0.2 # kpy,kiy,kdy = 0.0, 0.0, 0.0 # PID Control in move2goal @@ -59,7 +59,7 @@ kph,kih,kdh = 1.2,0.01,0.5 AT_detectBreak = 60 url_gb = 'http://10.0.0.2/cam-hi.jpg' -url_AT = 'http://10.0.0.6/cam-hi.jpg' +url_AT = 'http://10.0.0.4/cam-hi.jpg' ml = 1 esp_cam_on = 1