from utils import PidWrap

# 巡线误差
lane_error = 0
# 进入任务时可以通过修改 task_speed 控制巡线速度
task_speed = 0

# pid 参数
pid_argv = {"kp" : 1.2, "ki" : 0, "kd" : 0} # 1.2

# 转向 pid 对象
pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=50)

llm_text = ''

skip_llm_task_flag = False

first_block = None
second_block = None

switch_lane_model = False