Robot Controller

This file contains the code for a robot controller. The robot controller calculates the angular velocities of the two motors and sets the PWM of the motors. It also updates the PID controller.

Functions

• get_angular_velocities(): Returns the angular velocities of the two motors.
  • Arguments:
    • vx: The x-component of the robot's velocity.
    • vy: The y-component of the robot's velocity.
    • omega: The angular velocity of the robot.
  • Returns:
    • A tuple of the angular velocities of the two motors.
• drive_motor(): Drives the motor at the given PWM.
  • Arguments:
    • motor: The motor to drive.
    • pwm: The PWM to set which will be equal to RPM
• create_pid_controller(): Creates a PID controller.
  • Arguments:
    • kp: The proportional gain.
    • ki: The integral gain.
    • kd: The derivative gain.
  • Returns:
    • A PID controller.
• main(): The main function of the program.
  • Creates the motors and the PID controller.
  • Sets the target position.
  • Starts the loop, which calculates the angular velocities of the motors, sets the PWM of the motors, updates the PID controller, and prints the error.

Usage

To use the robot controller, first create the motors and the PID controller. Then, set the target position. Finally, start the loop.