机器人是怎么做的

class PIDController:
    def __init__(self, Kp, Ki, Kd):
        self.Kp = Kp
        self.Ki = Ki
        self.Kd = Kd
        self.previous_error = 0
        self.integral = 0

    def update(self, setpoint, measured_value, dt):
        error = setpoint - measured_value
        self.integral += error * dt
        derivative = (error - self.previous_error) / dt
        output = self.Kp * error + self.Ki * self.integral + self.Kd * derivative
        self.previous_error = error
        return output

# 示例使用
pid = PIDController(Kp=1.0, Ki=0.1, Kd=0.05)
setpoint = 100  # 目标速度
measured_value = 0  # 当前速度
dt = 0.1  # 时间间隔

for _ in range(100):
    control_signal = pid.update(setpoint, measured_value, dt)
    # 假设电机根据control_signal调整速度
    measured_value += control_signal * dt
    print(f"Control Signal: {control_signal}, Measured Value: {measured_value}")