## P-Controller for robot control

Below I present a simple implementation of the P-Controller in python. The presented function can be used in a loop and will allow the movement of the robot from the start position to the goal. You can chain the whole path and input the goal of next path points, when one is reached.

```
import math
def run_p_controller(pos, goal, heading, speed=70, ksi=0.8, precision=80):
"""Function for running robot motors using P-controller
Parameters
----------
pos: float tuple
The current position of the robot
goal: float tuple
The goal position
heading: float
The current heading of the robot
speed: int
The initial speed at which wheels should be turned
ksi: float
The value of the steering scalar
precision: int
The precision of the P-controller orientation
"""
# Direction estimation based on robot and goal positions
delta_x = goal[0] - pos[0]
delta_y = goal[1] - pos[1]
direction = math.atan2(delta_x, delta_y) / math.pi * 180
# Orientation conversion into the interval [0...179;-180,...,-1]
orient = heading - direction
if orient > 180:
orient -= 360
if orient < -180:
orient += 360
# P-controller
left_wheel = speed
right_wheel = speed
if orient <= 0:
if abs(orient) > precision:
left_wheel = -right_wheel
else:
left_wheel = right_wheel + (ksi * orient)
if orient > 0:
if orient > precision:
right_wheel = -left_wheel
else:
right_wheel = left_wheel - (ksi * orient)
# Return wheel power values
return left_wheel, right_wheel
```