essais réels data + scripts

Documentation/Pre-projet/Voiture RC/Code Arduino/Voiture_Finale/Voiture_Finale.ino

@@ -9,16 +9,20 @@
 #define DirPin 4
 // Droite 180 Gauche 850
 
-double Kp=3,Ki=0,Kd=0.3;//ces valeurs ne sont pas les bonnes
-
+//double Kp=3,Ki=0,Kd=0.3;//ces valeurs ne sont pas les bonnes
+//double Kp=0.97,Ki=1.3,Kd=0.0955; //marche bien pour discrétisation
+//double Kp=1.78,Ki=0.41,Kd=0.61; broida ok tier
+double Kp=1,Ki=0.2,Kd=0.133;
 int aggressif = 40;
-double Kpd=2.3,Kid=8,Kdd=0.2;//ces valeurs ne sont pas les bonnes
-
+//double Kpd=2.3,Kid=8,Kdd=0.2;//ces valeurs ne sont pas les bonnes
+double Kpd=1,Kid=0.2,Kdd=0.133;
+//double Kpd=0.5,Kid=0.1,Kdd=0;
 
 double Setpoint, Input, Output; //valeur visé pour les roues dans [-127,127], valeur réelle des roues dans [-127,127] et valeur de la commande des roues
 PID myPID(&Input, &Output, &Setpoint,Kp,Ki,Kd, DIRECT);
+//PID myPID(&Input, &Output, &Setpoint,1,0,0, DIRECT);
 bool turning;
-int zone_morte=10;
+int zone_morte=5;
 
 
 #define PontG 5
@@ -133,7 +137,7 @@ void loop() {
 
     radio.stopListening();
 
-    delay(10);
+    delay(0.2);
     
     bool report = radio.write(&sending,sizeof(sending));
     
@@ -172,14 +176,17 @@ void loop() {
       
       if ( abs(Input-Setpoint)<aggressif ) {
         myPID.SetTunings(Kpd, Kid, Kdd);
+        //myPID.SetTunings(1,0,0);
       }
       else
       {
         myPID.SetTunings(Kp, Ki, Kd);
+        //myPID.SetTunings(1,0,0);     
       }
 
 
       myPID.Compute();//on calcul l'output pour notre PID
+    
     //si on tombe dans la zone morte et que le virage est presque fini, on s'arrête là
 //    if (abs(Output)<zone_morte && abs(Input-Setpoint)<marge) {
 //      turning = false;
@@ -191,18 +198,18 @@ void loop() {
 
     //on applique la commande
     if (Output>0) {
+      Output = Output/255*(255-40)+40;
       droite(abs(Output));
     }
     else {
+      Output = Output/255*(255-40)-40;
       gauche(abs(Output));
     }
 
     }
     else
     {
-
       stop_direction(); 
-      
     }
   }
 

PAR 153/discretisation.py

@@ -7,6 +7,7 @@ import track_2_generator as tg
 from pid_controller import PidController
 from mesure_discret_to_adim import pol2xy
 import json
+from math import cos, sin
 
 def update_pos(x,y,cp):
     m = tg.create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
@@ -17,12 +18,191 @@ def update_pos(x,y,cp):
     plt.plot([x for x,y in c], [y for x,y in c], 'ob')
     plt.plot([x for x,y in p], [y for x,y in p], '--r')
     plt.axis("equal")
-    plt.show()
+    #plt.show()
     return
 
 
+def simulation(n, pid=(100,0.1,10), plot=True):    
+    essai_number = n
+    
+    max_lap = 6
+    current_lap = -1
+
+    p,i,d = pid
+    """initilize PID"""
+    pid = PidController(p,i,d)
+    
+    """initialize CP"""
+    cp=0
+    
+    data = {"essai": essai_number, "PID": {"P":p,"I":i,"D":d}, 'run': []}
+    
+    """loop"""
+    t = True
+    while t:
+        step_data = {}
+        
+        """set new pos"""
+        l = input('cercle, r, theta, pas: ')
+        try:
+            c, r, theta, p = l.split(' ')
+        except:
+            c = "s"
+        #c = "d"
+        #c, r, theta = "d", "1.2", "0"
+        if c=="s":
+            break
+        
+        """loading communication"""
+        ser = get_ser()
+        start_ser(ser)
+        
+        r, theta,p = float(r), float(theta), float(p)
+        
+        step_data["input"] = {"cercle":c, "r":r, "theta":theta}
+        
+        #x,y = input("x,y: ").split(' ')
+        x,y = pol2xy(c, r, theta)
+        
+        step_data["pos"] = {"x":x, "y":y}
+        
+        
+        """get distance"""
+        current_cp = LineString(tg.checkpoints(cp))
+        n_cp=cp+1
+        if cp==5:
+            n_cp=0
+            
+        next_cp = LineString(tg.checkpoints(n_cp))
+        pos = Point(x,y)
+        d1 = current_cp.distance(pos)
+        d2 = next_cp.distance(pos)
+        d=d1
+        
+        forward = False
+        if d1>d2:
+            cp=n_cp
+            d = d2
+            if cp==0:
+                current_lap+=1
+                if max_lap<=current_lap:
+                    t = False
+            if cp==3 or cp==0:
+                pid.previous_error *= -1
+                pid.integrated_error *= -1
+
+                #forward = True
+            
+        
+        d = r-1.2
+        
+        step_data["dist"] = d
+        step_data["cp"] = cp
+        step_data["lap"] = current_lap
+        
+        if plot:
+            """display"""
+            update_pos(x,y,cp)
+        
+        """get new order"""
+        speed = 10
+        direction = pid.get_control(d)
+        g = tg.is_in_track(x, y)
+        if cp in [0,1,2]:
+            direction*=-1
+        #if not g:
+        #if 1.2-r>0:
+            #direction*=-1
+            
+        direction = int(direction)
+        
+        if direction>255:
+            direction = 255
+        elif direction<-255:
+            direction = -255
+        #print(f"PID direction: {direction}")
+        #print(f"PID direction integrated: {pid.integrated_error}")
+        #print(f"PID direction previous: {pid.previous_error}")
+        
+        if forward:
+            direction_ideal = 0
+        elif cp in [0,1,2]:
+            direction_ideal = 100
+        elif cp in [3,4,5]:
+            direction_ideal = -20
+        direction_correction = direction
+        
+        direction = direction_ideal+direction_correction
+        
+        if direction>127:
+            direction = 127
+        elif direction<-127:
+            direction = -127
+        
+        """passage au centre: dead zone"""
+        x0,y0 = 1.0,0.4
+        r=0.07
+        if plot:
+            xs,ys = [x0+r*cos(theta/50*2*3.1415) for theta in range(50)], [y0+r*sin(theta/50*2*3.1415) for theta in range(50)]
+            plt.plot(xs,ys, 'r-')
+            plt.show()
+            
+        #if (x-x0)**2+(y-y0)**2<r**2:
+        #    direction = (-30 + 100)/2
+        
+        step_data["order"] = {"speed":speed, "direction":direction}
+            
+        #direction = 100
+        print(f"direction: {direction}")
+        
+        """set new order"""
+        t_end = time() + 4
+        while time() < t_end:
+            a = send_infos(ser, 0, direction, 0)
+            
+            try:
+                direct = a.split(',')[0]
+            except:
+                direct = ''
+            print(f"capteurs1: {direct}->{direction}")
+            pass
+
+        t_end = time() + p
+        previous_print = time()
+        while time() < t_end:
+            a = send_infos(ser, speed, direction, 0)
+            
+            try:
+                direct = a.split(',')[0]
+            except:
+                direct = ''
+            print(f"capteurs2: {direct}->{direction}")
+            pass
+
+        """stop"""
+        t_end = time() + 2
+        while time() < t_end:
+            send_infos(ser, 0, direction, 0)
+            pass
+        
+        close_ser(ser)
+        
+        print(f"cp: {cp}")
+        
+        data["run"].append(step_data)
+          
+    return data
+
 if __name__=="__main__":
+    essai_number = input("Numero de l'essai : ")
+    #x = [1.12219182e+02, 4.92516610e-01, 7.51131752e+03]
+    x = [ 100,   0.2, 257]
+    data = simulation(essai_number, pid=x, plot=True)
+    
+    with open(f'essai_{essai_number}.json', 'w') as outfile:
+        json.dump(data, outfile, indent=4)
     
+    '''
     essai_number = input("Numero de l'essai")
     
     p,i,d = 1000,100,1000
@@ -120,6 +300,4 @@ if __name__=="__main__":
         data["run"].append(step_data)
         
         #close_ser(ser)
-            
-    with open(f'essai_{essai_number}.json', 'w') as outfile:
+    '''
\ No newline at end of file
-        json.dump(data, outfile)
\ No newline at end of file

PAR 153/essai_1.json

+{"essai": "1", "PID": {"P": 54.11317513, "I": 0.522774415, "D": 257.9071004}, "run": [{"input": {"cercle": "d", "r": 1.18, "theta": 70.0}, "pos": {"x": 1.3318400961982129, "y": 0.03798446144692841}, "dist": -0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 94}}, {"input": {"cercle": "d", "r": 1.13, "theta": 50.0}, "pos": {"x": 1.1973541671059211, "y": 0.13932074136481454}, "dist": -0.07000000000000006, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 84}}, {"input": {"cercle": "d", "r": 1.1, "theta": 25.0}, "pos": {"x": 1.0846089309415354, "y": 0.3062999633688461}, "dist": -0.09999999999999987, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 87}}, {"input": {"cercle": "d", "r": 1.1, "theta": 10.0}, "pos": {"x": 1.0486297798694046, "y": 0.42041125190265694}, "dist": -0.09999999999999987, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 95}}, {"input": {"cercle": "g", "r": 1.32, "theta": 10.0}, "pos": {"x": 1.0416442641567145, "y": 0.5955064977168116}, "dist": 0.1200000000000001, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -63}}, {"input": {"cercle": "g", "r": 1.15, "theta": 30.0}, "pos": {"x": 0.9149705059800435, "y": 0.7395833333333333}, "dist": -0.050000000000000044, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -54}}]}
\ No newline at end of file

PAR 153/essai_11.json

+{"essai": "11", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.2, "theta": 0.0}, "pos": {"x": 1.0, "y": 0.5}, "dist": 0.0, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 90}}, {"input": {"cercle": "d", "r": 1.16, "theta": -20.0}, "pos": {"x": 1.045815233286811, "y": 0.6653097359407398}, "dist": -0.040000000000000036, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 76}}, {"input": {"cercle": "d", "r": 1.16, "theta": -35.0}, "pos": {"x": 1.1040765119269873, "y": 0.7772286109030055}, "dist": -0.040000000000000036, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 86}}, {"input": {"cercle": "d", "r": 1.19, "theta": -55.0}, "pos": {"x": 1.2156016836426065, "y": 0.9061628886266251}, "dist": -0.010000000000000009, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 96}}, {"input": {"cercle": "d", "r": 1.23, "theta": -70.0}, "pos": {"x": 1.3247146765455948, "y": 0.9815924681527781}, "dist": 0.030000000000000027, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 103}}, {"input": {"cercle": "d", "r": 1.25, "theta": -85.0}, "pos": {"x": 1.4546063839855947, "y": 1.0188514052561175}, "dist": 0.050000000000000044, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 100}}, {"input": {"cercle": "d", "r": 1.28, "theta": -100.0}, "pos": {"x": 1.5926123614223628, "y": 1.025230801606511}, "dist": 0.08000000000000007, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 105}}, {"input": {"cercle": "d", "r": 1.3, "theta": -115.0}, "pos": {"x": 1.7289182251095454, "y": 0.9909167179781855}, "dist": 0.10000000000000009, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 105}}, {"input": {"cercle": "d", "r": 1.31, "theta": -130.0}, "pos": {"x": 1.8508549036205695, "y": 0.9181325918691089}, "dist": 0.1100000000000001, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 103}}, {"input": {"cercle": "d", "r": 1.33, "theta": -140.0}, "pos": {"x": 1.924516295561767, "y": 0.8562114670346239}, "dist": 0.13000000000000012, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 108}}, {"input": {"cercle": "d", "r": 1.35, "theta": -150.0}, "pos": {"x": 1.9871392896287468, "y": 0.78125}, "dist": 0.15000000000000013, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 110}}]}
\ No newline at end of file

PAR 153/essai_18.json

+{"essai": "18", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": []}
\ No newline at end of file

PAR 153/essai_19.json

+{"essai": "19", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.2, "theta": 65.0}, "pos": {"x": 1.2886908691296504, "y": 0.04684610648167503}, "dist": 0.0, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 90}}]}
\ No newline at end of file

PAR 153/essai_2.json

+{"essai": "2", "PID": {"P": 54.11317513, "I": 0.522774415, "D": 257.9071004}, "run": [{"input": {"cercle": "d", "r": 1.12, "theta": 45.0}, "pos": {"x": 1.1700168354462779, "y": 0.17001683544627777}, "dist": -0.07999999999999985, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 66}}, {"input": {"cercle": "d", "r": 1.12, "theta": 25.0}, "pos": {"x": 1.0770563660495633, "y": 0.30277814452100693}, "dist": -0.07999999999999985, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 86}}, {"input": {"cercle": "d", "r": 1.14, "theta": 15.0}, "pos": {"x": 1.0411852325126927, "y": 0.37706095357630265}, "dist": -0.06000000000000005, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 91}}, {"input": {"cercle": "g", "r": 1.24, "theta": 5.0}, "pos": {"x": 1.0147005940140685, "y": 0.5450304670862901}, "dist": 0.040000000000000036, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -27}}, {"input": {"cercle": "g", "r": 1.12, "theta": 15.0}, "pos": {"x": 0.9507653856015652, "y": 0.6207822210478431}, "dist": -0.07999999999999985, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": 15}}, {"input": {"cercle": "g", "r": 1.08, "theta": 40.0}, "pos": {"x": 0.8447199994035401, "y": 0.7892544243589428}, "dist": -0.11999999999999988, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -4}}, {"input": {"cercle": "g", "r": 1.1, "theta": 50.0}, "pos": {"x": 0.7946109877729972, "y": 0.8511037030961983}, "dist": -0.09999999999999987, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -20}}, {"input": {"cercle": "g", "r": 1.16, "theta": 70.0}, "pos": {"x": 0.6653097359407399, "y": 0.9541847667131891}, "dist": -0.040000000000000036, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -33}}, {"input": {"cercle": "g", "r": 1.17, "theta": 90.0}, "pos": {"x": 0.5, "y": 0.9875}, "dist": -0.030000000000000027, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -20}}, {"input": {"cercle": "g", "r": 1.19, "theta": 110.0}, "pos": {"x": 0.33041501226768927, "y": 0.965930924473013}, "dist": -0.010000000000000009, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -24}}, {"input": {"cercle": "g", "r": 1.22, "theta": 125.0}, "pos": {"x": 0.2084319781882184, "y": 0.9164022891802376}, "dist": 0.020000000000000018, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -28}}, {"input": {"cercle": "g", "r": 1.23, "theta": 135.0}, "pos": {"x": 0.1376077746418944, "y": 0.8623922253581057}, "dist": 0.030000000000000027, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -23}}, {"input": {"cercle": "g", "r": 1.25, "theta": 155.0}, "pos": {"x": 0.027964694251744804, "y": 0.7201136779899476}, "dist": 0.050000000000000044, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -27}}, {"input": {"cercle": "g", "r": 1.25, "theta": 165.0}, "pos": {"x": -0.003086367858889716, "y": 0.6348015859908964}, "dist": 0.050000000000000044, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -22}}, {"input": {"cercle": "g", "r": 1.26, "theta": 180.0}, "pos": {"x": -0.025000000000000022, "y": 0.5000000000000001}, "dist": 0.06000000000000005, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -25}}, {"input": {"cercle": "g", "r": 1.25, "theta": -170.0}, "pos": {"x": -0.01292070469385842, "y": 0.4095582407984738}, "dist": 0.050000000000000044, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -20}}, {"input": {"cercle": "g", "r": 1.22, "theta": -155.0}, "pos": {"x": 0.039293541589702996, "y": 0.2851690502818111}, "dist": 0.020000000000000018, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -14}}, {"input": {"cercle": "g", "r": 1.21, "theta": -145.0}, "pos": {"x": 0.08701084433763345, "y": 0.21082188000634744}, "dist": 0.010000000000000009, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -18}}, {"input": {"cercle": "g", "r": 1.2, "theta": -130.0}, "pos": {"x": 0.17860619515673032, "y": 0.116977778440511}, "dist": 0.0, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -18}}, {"input": {"cercle": "g", "r": 1.17, "theta": -115.0}, "pos": {"x": 0.29397359740140905, "y": 0.05817495381963311}, "dist": -0.030000000000000027, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -11}}, {"input": {"cercle": "g", "r": 1.16, "theta": -100.0}, "pos": {"x": 0.4160700474609837, "y": 0.024009586044099474}, "dist": -0.040000000000000036, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -16}}, {"input": {"cercle": "g", "r": 1.15, "theta": -85.0}, "pos": {"x": 0.5417621267332529, "y": 0.02265670716437196}, "dist": -0.050000000000000044, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -15}}, {"input": {"cercle": "g", "r": 115.0, "theta": -65.0}, "pos": {"x": 20.750458375075183, "y": -42.92724812883948}, "dist": 113.8, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -127}}]}
\ No newline at end of file

PAR 153/essai_20.json

+{"essai": "20", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.19, "theta": 60.0}, "pos": {"x": 1.2520833333333332, "y": 0.07059573729021584}, "dist": -0.010000000000000009, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 87}}, {"input": {"cercle": "d", "r": 1.18, "theta": 40.0}, "pos": {"x": 1.1233614821331692, "y": 0.18396275857078487}, "dist": -0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 86}}, {"input": {"cercle": "d", "r": 1.23, "theta": 25.0}, "pos": {"x": 1.0355172591437167, "y": 0.2834081408578915}, "dist": 0.030000000000000027, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 105}}, {"input": {"cercle": "d", "r": 1.27, "theta": 5.0}, "pos": {"x": 0.9728469722597847, "y": 0.4538800861293642}, "dist": 0.07000000000000006, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 15}}]}
\ No newline at end of file

PAR 153/essai_21.json

+{"essai": "21", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.18, "theta": 95.0}, "pos": {"x": 1.5428515735175987, "y": 0.010204273438225109}, "dist": -0.020000000000000018, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 83}}, {"input": {"cercle": "d", "r": 1.18, "theta": 80.0}, "pos": {"x": 1.4146229793137592, "y": 0.01580285476899773}, "dist": -0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 88}}, {"input": {"cercle": "d", "r": 1.21, "theta": 60.0}, "pos": {"x": 1.2479166666666666, "y": 0.06337885892534556}, "dist": 0.010000000000000009, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 98}}, {"input": {"cercle": "d", "r": 1.24, "theta": 40.0}, "pos": {"x": 1.1042103710551947, "y": 0.16789306832862133}, "dist": 0.040000000000000036, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 101}}, {"input": {"cercle": "d", "r": 1.27, "theta": 20.0}, "pos": {"x": 1.0027459881674567, "y": 0.31901434082350033}, "dist": 0.07000000000000006, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 104}}]}
\ No newline at end of file

PAR 153/essai_22.json

+{"essai": "22", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.18, "theta": 95.0}, "pos": {"x": 1.5428515735175987, "y": 0.010204273438225109}, "dist": -0.020000000000000018, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 93}}, {"input": {"cercle": "d", "r": 1.17, "theta": 80.0}, "pos": {"x": 1.4153465133873715, "y": 0.019906220406548603}, "dist": -0.030000000000000027, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 95}}, {"input": {"cercle": "d", "r": 1.17, "theta": 60.0}, "pos": {"x": 1.2562499999999999, "y": 0.07781261565508618}, "dist": -0.030000000000000027, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 97}}, {"input": {"cercle": "d", "r": 1.19, "theta": 35.0}, "pos": {"x": 1.093837111373375, "y": 0.21560168364260635}, "dist": -0.010000000000000009, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 104}}, {"input": {"cercle": "d", "r": 1.19, "theta": 15.0}, "pos": {"x": 1.0210617777983368, "y": 0.3716688901366668}, "dist": -0.010000000000000009, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 15}}]}
\ No newline at end of file

PAR 153/essai_23.json

+{"essai": "23", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.18, "theta": 95.0}, "pos": {"x": 1.5428515735175987, "y": 0.010204273438225109}, "dist": -0.020000000000000018, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 93}}, {"input": {"cercle": "d", "r": 1.14, "theta": 75.0}, "pos": {"x": 1.3770609535763025, "y": 0.04118523251269257}, "dist": -0.06000000000000005, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 84}}, {"input": {"cercle": "d", "r": 1.18, "theta": 55.0}, "pos": {"x": 1.2179915854607357, "y": 0.09725024489124573}, "dist": -0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 108}}, {"input": {"cercle": "d", "r": 1.22, "theta": 40.0}, "pos": {"x": 1.1105940747478529, "y": 0.17324963174267588}, "dist": 0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 112}}, {"input": {"cercle": "d", "r": 1.22, "theta": 20.0}, "pos": {"x": 1.022322917767163, "y": 0.3261397604761184}, "dist": 0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 101}}, {"input": {"cercle": "d", "r": 1.21, "theta": 0.0}, "pos": {"x": 0.9958333333333333, "y": 0.5}, "dist": 0.010000000000000009, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": 35.0}}, {"input": {"cercle": "g", "r": 1.2, "theta": 15.0}, "pos": {"x": 0.9829629131445341, "y": 0.6294095225512604}, "dist": 0.0, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -28}}, {"input": {"cercle": "g", "r": 1.18, "theta": 40.0}, "pos": {"x": 0.8766385178668308, "y": 0.8160372414292152}, "dist": -0.020000000000000018, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -23}}, {"input": {"cercle": "g", "r": 1.18, "theta": 60.0}, "pos": {"x": 0.7458333333333333, "y": 0.9257958235273489}, "dist": -0.020000000000000018, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -28}}]}
\ No newline at end of file

PAR 153/essai_24.json

+{"essai": "24", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "g", "r": 1.2, "theta": -100.0}, "pos": {"x": 0.41317591116653485, "y": 0.00759612349389599}, "dist": 0.0, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.1, "theta": -80.0}, "pos": {"x": 0.5795887480973431, "y": 0.048629779869404643}, "dist": -0.09999999999999987, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": 5}}, {"input": {"cercle": "g", "r": 1.08, "theta": -20.0}, "pos": {"x": 0.9228616793536588, "y": 0.34609093550344905}, "dist": -0.11999999999999988, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -13}}, {"input": {"cercle": "g", "r": 1.17, "theta": -40.0}, "pos": {"x": 0.8734466660205018, "y": 0.18664104027781214}, "dist": -0.030000000000000027, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -50}}, {"input": {"cercle": "g", "r": 1.19, "theta": -10.0}, "pos": {"x": 0.9883005108685532, "y": 0.41389944524014705}, "dist": -0.010000000000000009, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": 35.0}}]}
\ No newline at end of file

PAR 153/essai_25.json

+{"essai": "25", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "g", "r": 1.2, "theta": -100.0}, "pos": {"x": 0.41317591116653485, "y": 0.00759612349389599}, "dist": 0.0, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.13, "theta": -85.0}, "pos": {"x": 0.5410358288770224, "y": 0.03095832964846984}, "dist": -0.07000000000000006, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -6}}, {"input": {"cercle": "g", "r": 1.13, "theta": -65.0}, "pos": {"x": 0.6989827649029127, "y": 0.07328008360357735}, "dist": -0.07000000000000006, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -23}}, {"input": {"cercle": "g", "r": 1.18, "theta": -45.0}, "pos": {"x": 0.8476608340833859, "y": 0.15233916591661412}, "dist": -0.020000000000000018, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -40}}, {"input": {"cercle": "g", "r": 1.15, "theta": -20.0}, "pos": {"x": 0.9502693807932477, "y": 0.33611534798978376}, "dist": -0.050000000000000044, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -18}}, {"input": {"cercle": "g", "r": 1.16, "theta": 0.0}, "pos": {"x": 0.9833333333333334, "y": 0.5}, "dist": -0.040000000000000036, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": 35.0}}, {"input": {"cercle": "d", "r": 1.26, "theta": -20.0}, "pos": {"x": 1.006661374087398, "y": 0.6795605752459761}, "dist": 0.06000000000000005, "cp": 0, "lap": 0, "order": {"speed": 10, "direction": 127}}]}
\ No newline at end of file

PAR 153/essai_26.json

+{"essai": "26", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "g", "r": 1.2, "theta": -100.0}, "pos": {"x": 0.41317591116653485, "y": 0.00759612349389599}, "dist": 0.0, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.2, "theta": -80.0}, "pos": {"x": 0.5868240888334653, "y": 0.00759612349389599}, "dist": 0.0, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.17, "theta": -60.0}, "pos": {"x": 0.74375, "y": 0.07781261565508618}, "dist": -0.030000000000000027, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -20}}, {"input": {"cercle": "g", "r": 1.21, "theta": -45.0}, "pos": {"x": 0.8564996688482177, "y": 0.1435003311517823}, "dist": 0.010000000000000009, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -41}}, {"input": {"cercle": "g", "r": 1.21, "theta": -20.0}, "pos": {"x": 0.9737616963128954, "y": 0.327564844406642}, "dist": 0.010000000000000009, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.2, "theta": 0.0}, "pos": {"x": 1.0, "y": 0.5}, "dist": 0.0, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": 35.0}}, {"input": {"cercle": "d", "r": 1.36, "theta": -30.0}, "pos": {"x": 1.009252271188818, "y": 0.7833333333333333}, "dist": 0.16000000000000014, "cp": 0, "lap": 0, "order": {"speed": 10, "direction": 127}}]}
\ No newline at end of file

PAR 153/essai_27.json

+{"essai": "27", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.1, "theta": -35.0}, "pos": {"x": 1.124555313034212, "y": 0.7628891999942294}, "dist": -0.09999999999999987, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 65}}, {"input": {"cercle": "d", "r": 1.16, "theta": -50.0}, "pos": {"x": 1.1893193219848393, "y": 0.8702548141741727}, "dist": -0.040000000000000036, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 111}}, {"input": {"cercle": "d", "r": 1.24, "theta": -80.0}, "pos": {"x": 1.410281774872086, "y": 1.0088173390563075}, "dist": 0.040000000000000036, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 124}}, {"input": {"cercle": "d", "r": 1.28, "theta": -95.0}, "pos": {"x": 1.5464830627987511, "y": 1.0313038389822644}, "dist": 0.08000000000000007, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 118}}, {"input": {"cercle": "d", "r": 1.25, "theta": -110.0}, "pos": {"x": 1.6781354913154525, "y": 0.9894232399926607}, "dist": 0.050000000000000044, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 98}}]}
\ No newline at end of file

PAR 153/essai_28.json

+{"essai": "28", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 120.0, "theta": 0.0}, "pos": {"x": -48.5, "y": 0.5}, "dist": 118.8, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 127}}, {"input": {"cercle": "d", "r": 110.0, "theta": -16.0}, "pos": {"x": -42.55782773050628, "y": 13.13337880827913}, "dist": 108.8, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 127}}]}
\ No newline at end of file