能否提供一份关于Ti型号循迹小车实现圆周路径追踪的具体编程代码示例？

Ti型号循迹小车实现圆周路径追踪的编程通常涉及到PID控制器（Proportional Integral Derivative）来控制电机的速度，以便保持小车跟随预设的圆形轨迹。这里是一个简单的Python示例，假设你已经有一个基本的硬件接口和轮径信息：

import math
from time import sleep

# 定义常量
WHEEL_CIRCUMFERENCE = 50.0  # 小车轮子的周长
STEERING_RATE = 0.5       # 每秒最大转向角度
LOOP_DELAY = 0.01        # 更新频率

class Trackbot:
    def __init__(self):
        self.current_angle = 0.0
        self.target_angle = 0.0
        self.speed = 0.0

    def update(self):
        error = self.target_angle - self.current_angle
        self.speed += Kp * error + Ki * (error - self.error_last) + Kd * (error - 2 * self.error_last + self.error_two_steps_back)
        self.error_last = error
        self.error_two_steps_back = 2 * self.error_last - self.error_three_steps_back
        if self.speed > 1:
            self.speed = 1
        elif self.speed < -1:
            self.speed = -1

        steering_angle = math.atan2(WHEEL_CIRCUMFERENCE * self.speed, 1)
        self.current_angle += STEERING_RATE * steering_angle

    def set_circle_path(self, radius, start_angle):
        self.target_angle = start_angle
        self.circle_radius = radius

for _ in range(1, 10):  # 假设你想要让小车绕圈10次
    self.set_circle_path(100, 0)  # 设置圆心在原点，半径为100的圆
    while abs(self.target_angle - self.current_angle) > 1e-6:
        self.update()
        print(f"Current angle: {self.current_angle}, Speed: {self.speed}")
        sleep(LOOP_DELAY)