New [custom] PID #137
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New [custom] PID #137
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RCoder01
requested changes
Nov 23, 2025
| self.kp = self.get_parameter('kp').get_parameter_value().double_value | ||
| self.kd = self.get_parameter('kd').get_parameter_value().double_value | ||
| self.ki = self.get_parameter('ki').get_parameter_value().double_value | ||
| self.angular = self.get_parameter('angular').value |
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Is this correct? I would expect it would have to be self.angular = self.get_parameter('angular').get_parameter_value().boolean_value or smth
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| # (input error % 360) will be in range [0, 360) | ||
| # if (input error % 360) is < 180 then output +ve value | ||
| # if (input error % 360) is >=180 then output -ve value |
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Maybe move this comment into the convert_to_180_180_range function
| else: | ||
| cur_time = self.get_clock().now() | ||
| delta_time = self.elapsed_ms(self.prev_time, cur_time) | ||
| pose_diff: float = (self.pose - self.prev_pose) # don't do modulo anything, this should be the absolute value with sign and everything |
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Consider the case where self.pose is 179.9 and self.prev_pose is -179.9. Then pose_diff is 359.8 when it should probably be -0.2.
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tested yaw pid with various input values of target pose, pose, and target twist. outputs seem to be correct. also traced through all intermediate values calculated in my code and they look right.
This pr fixes #93