Difference between revisions of "Move With PID"
From wikidb
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− | + | <pre> | |
− | + | void trackCallback (const geometry_msgs::Point::ConstPtr & track_msg) | |
{ | { | ||
ros::NodeHandle nh; | ros::NodeHandle nh; | ||
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plot_msg.z = move_msg.angular.z; | plot_msg.z = move_msg.angular.z; | ||
plot.publish(plot_msg); | plot.publish(plot_msg); | ||
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} | } | ||
+ | </pre> | ||
[[Image:PidPlot.jpg]] | [[Image:PidPlot.jpg]] |
Revision as of 15:22, 26 August 2012
void trackCallback (const geometry_msgs::Point::ConstPtr & track_msg) { ros::NodeHandle nh; geometry_msgs::Twist move_msg; geometry_msgs::Point plot_msg; ros::Time time = ros::Time::now(); double effort = 0; // Set the turn - turn on the z axis move_msg.linear.x = 0; move_msg.linear.y = 0; move_msg.linear.z = 0; move_msg.angular.x = 0; move_msg.angular.y = 0; // PID update effort = pid.updatePid(track_msg->x - MID_X, time - last_time); move_msg.angular.z = -effort / SCALE * MAX_POWER; if (move_msg.angular.z > MAX_POWER) move_msg.angular.z = MAX_POWER; if (move_msg.angular.z < -MAX_POWER) move_msg.angular.z = -MAX_POWER; // Execute turn mover.publish(move_msg); // debug output plot_msg.x = track_msg->x - MID_X; plot_msg.y = - effort; plot_msg.z = move_msg.angular.z; plot.publish(plot_msg); }