姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.24 = 0.01
PID杈撳嚭: u = -2.42
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-1.00 = -0.05
PID杈撳嚭: u = 4.95
璁$畻鏂颁綅缃? H=462.24, V=381.32
[鑸垫満璁剧疆] 鍘熷鐩爣: H=462.24, V=381.32
浣嶇疆闄愬埗鐢熸晥: H=462, V=381
璁剧疆鑸垫満浣嶇疆: H=462, V=381, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,239), 杞撮暱(5.07,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=33, 骞冲潎鍊?(312.55,271.36), 鏍囧噯宸?(19.52,85.01)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=462, V=381
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.20 = 0.01
PID杈撳嚭: u = -2.42
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.80 = -0.04
PID杈撳嚭: u = 4.96
璁$畻鏂颁綅缃? H=461.24, V=379.31
[鑸垫満璁剧疆] 鍘熷鐩爣: H=461.24, V=379.31
浣嶇疆闄愬埗鐢熸晥: H=461, V=379
璁剧疆鑸垫満浣嶇疆: H=461, V=379, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=34, 骞冲潎鍊?(312.76,270.44), 鏍囧噯宸?(19.27,83.92)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=461, V=379
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.16 = 0.01
PID杈撳嚭: u = -2.42
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.64 = -0.03
PID杈撳嚭: u = 4.97
璁$畻鏂颁綅缃? H=460.24, V=377.31
[鑸垫満璁剧疆] 鍘熷鐩爣: H=460.24, V=377.31
浣嶇疆闄愬埗鐢熸晥: H=460, V=377
璁剧疆鑸垫満浣嶇疆: H=460, V=377, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=35, 骞冲潎鍊?(312.97,269.57), 鏍囧噯宸?(19.03,82.86)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=460, V=377
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.13 = 0.01
PID杈撳嚭: u = -2.42
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.51 = -0.03
PID杈撳嚭: u = 4.97
璁$畻鏂颁綅缃? H=459.24, V=375.31
[鑸垫満璁剧疆] 鍘熷鐩爣: H=459.24, V=375.31
浣嶇疆闄愬埗鐢熸晥: H=459, V=375
璁剧疆鑸垫満浣嶇疆: H=459, V=375, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=36, 骞冲潎鍊?(313.17,268.75), 鏍囧噯宸?(18.80,81.85)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=459, V=375
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.10 = 0.01
PID杈撳嚭: u = -2.42
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.41 = -0.02
PID杈撳嚭: u = 4.98
璁$畻鏂颁綅缃? H=458.24, V=373.31
[鑸垫満璁剧疆] 鍘熷鐩爣: H=458.24, V=373.31
浣嶇疆闄愬埗鐢熸晥: H=458, V=373
璁剧疆鑸垫満浣嶇疆: H=458, V=373, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=37, 骞冲潎鍊?(313.32,267.95), 鏍囧噯宸?(18.57,80.88)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=458, V=373
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.08 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.33 = -0.02
PID杈撳嚭: u = 4.98
璁$畻鏂颁綅缃? H=457.24, V=371.31
[鑸垫満璁剧疆] 鍘熷鐩爣: H=457.24, V=371.31
浣嶇疆闄愬埗鐢熸晥: H=457, V=371
璁剧疆鑸垫満浣嶇疆: H=457, V=371, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.03,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=38, 骞冲潎鍊?(313.50,267.21), 鏍囧噯宸?(18.35,79.93)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=457, V=371
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.06 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.26 = -0.01
PID杈撳嚭: u = 4.99
璁$畻鏂颁綅缃? H=456.24, V=369.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=456.24, V=369.30
浣嶇疆闄愬埗鐢熸晥: H=456, V=369
璁剧疆鑸垫満浣嶇疆: H=456, V=369, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.33,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=39, 骞冲潎鍊?(313.64,266.49), 鏍囧噯宸?(18.14,79.03)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=456, V=369
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.05 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.21 = -0.01
PID杈撳嚭: u = 4.99
璁$畻鏂颁綅缃? H=455.24, V=367.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=455.24, V=367.30
浣嶇疆闄愬埗鐢熸晥: H=455, V=367
璁剧疆鑸垫満浣嶇疆: H=455, V=367, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=40, 骞冲潎鍊?(313.80,265.82), 鏍囧噯宸?(17.94,78.14)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=455, V=367
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.04 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.17 = -0.01
PID杈撳嚭: u = 4.99
璁$畻鏂颁綅缃? H=454.24, V=365.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=454.24, V=365.30
浣嶇疆闄愬埗鐢熸晥: H=454, V=365
璁剧疆鑸垫満浣嶇疆: H=454, V=365, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=41, 骞冲潎鍊?(313.95,265.20), 鏍囧噯宸?(17.74,77.29)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=454, V=365
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.03 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.13 = -0.01
PID杈撳嚭: u = 4.99
璁$畻鏂颁綅缃? H=453.24, V=363.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=453.24, V=363.30
浣嶇疆闄愬埗鐢熸晥: H=453, V=363
璁剧疆鑸垫満浣嶇疆: H=453, V=363, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=42, 骞冲潎鍊?(314.10,264.60), 鏍囧噯宸?(17.56,76.46)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=453, V=363
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.03 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.11 = -0.01
PID杈撳嚭: u = 4.99
璁$畻鏂颁綅缃? H=452.24, V=361.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=452.24, V=361.30
浣嶇疆闄愬埗鐢熸晥: H=452, V=361
璁剧疆鑸垫満浣嶇疆: H=452, V=361, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.11,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=43, 骞冲潎鍊?(314.23,264.02), 鏍囧噯宸?(17.37,75.65)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=452, V=361
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.02 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.09 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=451.24, V=359.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=451.24, V=359.30
浣嶇疆闄愬埗鐢熸晥: H=451, V=359
璁剧疆鑸垫満浣嶇疆: H=451, V=359, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=44, 骞冲潎鍊?(314.36,263.48), 鏍囧噯宸?(17.20,74.88)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=451, V=359
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.02 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.07 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=450.24, V=357.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=450.24, V=357.30
浣嶇疆闄愬埗鐢熸晥: H=450, V=357
璁剧疆鑸垫満浣嶇疆: H=450, V=357, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=45, 骞冲潎鍊?(314.49,262.96), 鏍囧噯宸?(17.02,74.12)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=450, V=357
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.01 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.06 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=449.24, V=355.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=449.24, V=355.30
浣嶇疆闄愬埗鐢熸晥: H=449, V=355
璁剧疆鑸垫満浣嶇疆: H=449, V=355, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=46, 骞冲潎鍊?(314.59,262.43), 鏍囧噯宸?(16.85,73.39)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=449, V=355
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.01 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.04 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=448.24, V=353.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=448.24, V=353.30
浣嶇疆闄愬埗鐢熸晥: H=448, V=353
璁剧疆鑸垫満浣嶇疆: H=448, V=353, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=47, 骞冲潎鍊?(314.70,261.96), 鏍囧噯宸?(16.69,72.68)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=448, V=353
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.01 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.04 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=447.24, V=351.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=447.24, V=351.30
浣嶇疆闄愬埗鐢熸晥: H=447, V=351
璁剧疆鑸垫満浣嶇疆: H=447, V=351, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.08,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=48, 骞冲潎鍊?(314.81,261.50), 鏍囧噯宸?(16.53,71.99)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=447, V=351
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.01 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.03 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=446.24, V=349.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=446.24, V=349.30
浣嶇疆闄愬埗鐢熸晥: H=446, V=349
璁剧疆鑸垫満浣嶇疆: H=446, V=349, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=49, 骞冲潎鍊?(314.92,261.06), 鏍囧噯宸?(16.38,71.31)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=446, V=349
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.01 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.02 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=445.24, V=347.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=445.24, V=347.30
浣嶇疆闄愬埗鐢熸晥: H=445, V=347
璁剧疆鑸垫満浣嶇疆: H=445, V=347, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=50, 骞冲潎鍊?(315.02,260.64), 鏍囧噯宸?(16.23,70.66)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=445, V=347
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.02 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=444.24, V=345.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=444.24, V=345.30
浣嶇疆闄愬埗鐢熸晥: H=444, V=345
璁剧疆鑸垫満浣嶇疆: H=444, V=345, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(260,501), 杞撮暱(72.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=52, 骞冲潎鍊?(314.06,264.87), 鏍囧噯宸?(17.64,76.82)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=444, V=345
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=443.24, V=343.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=443.24, V=343.30
浣嶇疆闄愬埗鐢熸晥: H=443, V=343
璁剧疆鑸垫満浣嶇疆: H=443, V=343, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=53, 骞冲潎鍊?(314.17,264.40), 鏍囧噯宸?(17.49,76.17)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=443, V=343
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=442.24, V=341.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=442.24, V=341.30
浣嶇疆闄愬埗鐢熸晥: H=442, V=341
璁剧疆鑸垫満浣嶇疆: H=442, V=341, 绉诲姩鏃堕棿=0.50绉?褰撳墠甯х巼: 30.0 FPS
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=54, 骞冲潎鍊?(314.28,263.94), 鏍囧噯宸?(17.34,75.53)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=442, V=341
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=441.24, V=339.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=441.24, V=339.30
浣嶇疆闄愬埗鐢熸晥: H=441, V=339
璁剧疆鑸垫満浣嶇疆: H=441, V=339, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=55, 骞冲潎鍊?(314.38,263.51), 鏍囧噯宸?(17.20,74.91)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=441, V=339
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=440.24, V=337.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=440.24, V=337.30
浣嶇疆闄愬埗鐢熸晥: H=440, V=337
璁剧疆鑸垫満浣嶇疆: H=440, V=337, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=56, 骞冲潎鍊?(314.48,263.09), 鏍囧噯宸?(17.06,74.31)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=440, V=337
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=439.24, V=335.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=439.24, V=335.30
浣嶇疆闄愬埗鐢熸晥: H=439, V=335
璁剧疆鑸垫満浣嶇疆: H=439, V=335, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=57, 骞冲潎鍊?(314.58,262.68), 鏍囧噯宸?(16.93,73.71)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=439, V=335
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=438.24, V=333.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=438.24, V=333.30
浣嶇疆闄愬埗鐢熸晥: H=438, V=333
璁剧疆鑸垫満浣嶇疆: H=438, V=333, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=58, 骞冲潎鍊?(314.67,262.29), 鏍囧噯宸?(16.80,73.13)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=438, V=333
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=437.24, V=331.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=437.24, V=331.30
浣嶇疆闄愬埗鐢熸晥: H=437, V=331
璁剧疆鑸垫満浣嶇疆: H=437, V=331, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.15,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=59, 骞冲潎鍊?(314.76,261.92), 鏍囧噯宸?(16.67,72.57)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=437, V=331
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=436.24, V=329.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=436.24, V=329.30
浣嶇疆闄愬埗鐢熸晥: H=436, V=329
璁剧疆鑸垫満浣嶇疆: H=436, V=329, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=60, 骞冲潎鍊?(314.85,261.55), 鏍囧噯宸?(16.54,72.02)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=436, V=329
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=435.24, V=327.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=435.24, V=327.30
浣嶇疆闄愬埗鐢熸晥: H=435, V=327
璁剧疆鑸垫満浣嶇疆: H=435, V=327, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.03,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=61, 骞冲潎鍊?(314.93,261.20), 鏍囧噯宸?(16.42,71.48)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=435, V=327
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=434.24, V=325.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=434.24, V=325.30
浣嶇疆闄愬埗鐢熸晥: H=434, V=325
璁剧疆鑸垫満浣嶇疆: H=434, V=325, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=62, 骞冲潎鍊?(315.02,260.85), 鏍囧噯宸?(16.30,70.95)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=434, V=325
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=433.24, V=323.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=433.24, V=323.30
浣嶇疆闄愬埗鐢熸晥: H=433, V=323
璁剧疆鑸垫満浣嶇疆: H=433, V=323, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,239), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=63, 骞冲潎鍊?(315.10,260.51), 鏍囧噯宸?(16.18,70.44)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=433, V=323
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=432.24, V=321.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=432.24, V=321.30
浣嶇疆闄愬埗鐢熸晥: H=432, V=321
璁剧疆鑸垫満浣嶇疆: H=432, V=321, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=64, 骞冲潎鍊?(315.17,260.19), 鏍囧噯宸?(16.06,69.93)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=432, V=321
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=431.24, V=319.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=431.24, V=319.30
浣嶇疆闄愬埗鐢熸晥: H=431, V=319
璁剧疆鑸垫満浣嶇疆: H=431, V=319, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.15,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=65, 骞冲潎鍊?(315.25,259.88), 鏍囧噯宸?(15.95,69.43)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=431, V=319
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=430.24, V=317.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=430.24, V=317.30
浣嶇疆闄愬埗鐢熸晥: H=430, V=317
璁剧疆鑸垫満浣嶇疆: H=430, V=317, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(4.99,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(315.32,259.58), 鏍囧噯宸?(15.84,68.95)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=430, V=317
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=429.24, V=315.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=429.24, V=315.30
浣嶇疆闄愬埗鐢熸晥: H=429, V=315
璁剧疆鑸垫満浣嶇疆: H=429, V=315, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.03,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=67, 骞冲潎鍊?(315.37,259.27), 鏍囧噯宸?(15.73,68.48)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=429, V=315
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=428.24, V=313.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=428.24, V=313.30
浣嶇疆闄愬埗鐢熸晥: H=428, V=313
璁剧疆鑸垫満浣嶇疆: H=428, V=313, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=68, 骞冲潎鍊?(315.43,258.97), 鏍囧噯宸?(15.62,68.02)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=428, V=313
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=427.24, V=311.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=427.24, V=311.30
浣嶇疆闄愬埗鐢熸晥: H=427, V=311
璁剧疆鑸垫満浣嶇疆: H=427, V=311, 绉诲姩鏃堕棿=0.50绉?
鍦嗗績闃熷垪: 鏁伴噺=68, 骞冲潎鍊?(315.43,258.97), 鏍囧噯宸?(15.62,68.02)
鍦嗗績鍋忓樊: dx=-1, dy=-1
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(4.94,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=69, 骞冲潎鍊?(315.48,258.68), 鏍囧噯宸?(15.51,67.56)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=427, V=311
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=426.24, V=309.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=426.24, V=309.30
浣嶇疆闄愬埗鐢熸晥: H=426, V=309
璁剧疆鑸垫満浣嶇疆: H=426, V=309, 绉诲姩鏃堕棿=0.50绉?
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(4.91,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=70, 骞冲潎鍊?(315.53,258.40), 鏍囧噯宸?(15.41,67.12)
鍦嗗績鍋忓樊: dx=-1, dy=-1
褰撳墠鑸垫満浣嶇疆: H=426, V=309
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-243.00 = -2.43
寰垎椤? Kd*derivative = 0.05*0.00 = 0.00
PID杈撳嚭: u = -2.43
[PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00
姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00
PID杈撳嚭: u = 5.00
璁$畻鏂颁綅缃? H=425.24, V=307.30
[鑸垫満璁剧疆] 鍘熷鐩爣: H=425.24, V=307.30
浣嶇疆闄愬埗鐢熸晥: H=425, V=307
璁剧疆鑸垫満浣嶇疆: H=425, V=307, 绉诲姩鏃堕棿=0.50绉?
鍦嗗績闃熷垪: 鏁伴噺=70, 骞冲潎鍊?(315.53,258.40), 鏍囧噯宸?(15.41,67.12)
鍦嗗績鍋忓樊: dx=-1, dy=-1
Traceback (most recent call last):
File "/home/pi/yuan4.py", line 363, in <module>
main()
File "/home/pi/yuan4.py", line 213, in main
rectangle = detect_black_rectangle(frame)
File "/home/pi/yuan4.py", line 135, in detect_black_rectangle
box = np.int0(box)
File "/home/pi/openvino_env/lib/python3.9/site-packages/numpy/__init__.py", line 410, in __getattr__
raise AttributeError("module {!r} has no attribute "
AttributeError: module 'numpy' has no attribute 'int0'
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