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53 lines
1022 B
53 lines
1022 B
1 week ago
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from Barra16 import Barra16
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from Driver import Driver
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from neopixel import NeoPixel
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from time import sleep
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from machine import Pin
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barra = Barra16(18,19,20,21,27)
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driver = Driver(4,6,5,7,9,8,10,hz=5000)
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neo = NeoPixel(Pin(23,Pin.OUT),1)
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boton = Pin(24,mode=Pin.IN, pull=Pin.PULL_UP)
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start = False
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def interrupcion(pin):
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global start
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start= not start
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boton.irq(trigger=Pin.IRQ_FALLING, handler=interrupcion)
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#-----------------------------------PID VARS------------------------------------------
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kp=4
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ki=0.000001
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kd=3
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P=I=D=0
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error =0
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errorAnterior=0
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vel=10000
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while True:
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if not start:
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driver.setVelocidad(0,0)
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neo.fill((0,10,0))
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neo.write()
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sleep(.01)
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else:
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neo.fill((0,0,10))
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neo.write()
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P=barra.getPos()
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if(P>-100 and P<100):
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I=(I+error)
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else:
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I=0
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D=P-errorAnterior
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errorAnterior=P
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pid=(kp*P)+(ki*I)+(kd*D)
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driver.setVelocidad(vel-pid,vel+pid)
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