Removed PID settings
This commit is contained in:
@@ -21,24 +21,8 @@
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# Off-road racing car (42109) by ConstructionsByDonat #
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# https://rebrickable.com/mocs/MOC-90323/ #
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################################################################################
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# #
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# Changelog #
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# #
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################################################################################
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# v0.3.0 05-07-2022 #
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# Based on v0.1.0 05-07-2022 of 42124-1 - Off-Road Buggy #
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# v0.2.0 02-07-2022 #
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# 2 speed "gearbox" changed to 3 speed, recodingwith debounce and now left #
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# button also used. #
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# v0.1.0 15-06-2022 #
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# 2 speed "gearbox" added. #
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# v0.0.1 15-06-2022 #
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# Changed variable namings. #
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# Changelog added. #
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# Comment header added. #
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# Changed the way speed is handled within the while loop. #
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# v0.0.0 14-06-2022 #
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# First version. #
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# LEGO® is a trademark of the LEGO Group of companies which does not sponsor, #
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# authorize or endorse this project. #
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################################################################################
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from pybricks.pupdevices import Motor, Remote
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@@ -56,12 +40,6 @@ remote = Remote()
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# Initialize the hub.
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hub = TechnicHub()
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# Read the current settings
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old_kp, old_ki, old_kd, _, _ = steering.control.pid()
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# Set new values
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steering.control.pid(kp=old_kp*4, kd=old_kd*0.4)
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# Find the steering endpoint on the left and right.
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# The middle is in between.
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left_end = steering.run_until_stalled(-200, then=Stop.HOLD)
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@@ -12,22 +12,8 @@
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# Port D: Not used #
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# #
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################################################################################
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# #
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# Changelog #
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# #
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################################################################################
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# v0.1.0 05-07-2022 #
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# restructured to the version at pybricks-projects on Github #
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# https://github.com/pybricks/pybricks-projects/blob/master/sets/technic/ #
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# 42124-off-road-buggy/powered-up-remote/main.py #
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# Changed gearbox part. #
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# Button left can only shift down #
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# Button right can only shift up #
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# New variables to easily change the number of gears #
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# Added battery indicator with hub LED. #
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# v0.0.0 04-07-2022 #
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# First version. #
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# Based on v0.2.0 02-07-2022 of 42109-1 - App-Controlled Top Gear Rally Car #
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# LEGO® is a trademark of the LEGO Group of companies which does not sponsor, #
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# authorize or endorse this project. #
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################################################################################
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from pybricks.pupdevices import Motor, Remote
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@@ -45,12 +31,6 @@ remote = Remote()
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# Initialize the hub.
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hub = TechnicHub()
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# Read the current settings
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old_kp, old_ki, old_kd, _, _ = steering.control.pid()
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# Set new values
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steering.control.pid(kp=old_kp*4, kd=old_kd*0.4)
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# Find the steering endpoint on the left and right.
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# The middle is in between.
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left_end = steering.run_until_stalled(-200, then=Stop.HOLD)
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+9
-25
@@ -15,19 +15,8 @@
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################################################################################
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# Rebrickable: https://rebrickable.com/mocs/MOC-113177/ #
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################################################################################
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# #
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# Changelog #
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# #
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################################################################################
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# v0.2.0 05-07-2022 #
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# Based on v0.1.0 05-07-2022 of 42124-1 - Off-Road Buggy #
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# Added steering correction #
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# v0.1.0 26-06-2022 #
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# Added half speed for drive. #
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# Added half angle for steering. #
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# v0.0.0 26-06-2022 #
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# First version. #
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# Based on v0.0.0 22-06-2022 of 42129 B model 'Hot Trot' by Didumos #
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# LEGO® is a trademark of the LEGO Group of companies which does not sponsor, #
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# authorize or endorse this project. #
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################################################################################
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from pybricks.pupdevices import Motor, Remote
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@@ -46,12 +35,6 @@ remote = Remote()
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# Initialize the hub.
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hub = TechnicHub()
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# Read the current settings
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old_kp, old_ki, old_kd, _, _ = steering.control.pid()
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# Set new values
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steering.control.pid(kp=old_kp*4, kd=old_kd*0.4)
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# Find the steering endpoint on the left and right.
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# The middle is in between.
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left_end = steering.run_until_stalled(-200, then=Stop.HOLD)
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@@ -71,12 +54,13 @@ steering_angle_left = -steering_angle-steering_correction
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steering_angle_right = steering_angle+steering_correction
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# Set variable for gear
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gear_total = 2 # Total number of gears.
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gear_old = None # Empty variable to set later on (keep empty!).
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gear = 2 # Gear at start (must be higher than 0 and lower or
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# eaqual to gear_total).
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gear_color = ["BLUE", "RED"] # Number of colors should at least be equal to
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# gear_total.
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gear_total = 2 # Total number of gears.
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gear_old = None # Empty variable to set later on (keep
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# empty!).
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gear = 1 # Gear at start (must be higher than 0 and
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# lower or eaqual to gear_total).
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gear_color = ["BLUE", "RED"] # Number of colors should at least be
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# equal to gear_total.
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# Battery variables
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voltage_current = hub.battery.voltage()
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