This page (revision-25) was last changed on 2021-11-08 09:09 by Murray Altheim

This page was created on 2019-12-22 08:01 by Murray Altheim

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Version Date Modified Size Author Changes ... Change note
25 2021-11-08 09:09 8 KB Murray Altheim to previous
24 2021-06-24 22:52 8 KB Murray Altheim to previous | to last
23 2021-01-23 22:25 8 KB Murray Altheim to previous | to last
22 2020-09-27 01:11 8 KB Murray Altheim to previous | to last
21 2020-09-27 01:11 8 KB Murray Altheim to previous | to last

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PID Controller
PIDController

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At line 11 removed one line
On a typical robot with a motor on the left and a motor on the right side, to go forward one motor will be going clockwise, the other motor counter-clockwise. It's entirely typical of DC brushed motors to have a difference in performance in each direction, so it's entirely typical that such a robot will not run in a straight line. So having motor encoders and a PID controller is __exactly__ how one fixes this problem.
At line 13 removed 3 lines
See: [PID Rug Bump Challenge|PIDRugBumpChallenge], [Robot Chassis Dynamometer|RobotChassisDynamometer]
At line 32 changed 2 lines
The more I read about PID controllers the more I found that tuning the control terms is considered something of a black art. There are a number of constants in the formula, and tweaking them is done by trial and error, in other words: guessing. I did
learn one rule of thumb for a PD controller: start at three zeros, then turn up the P until it oscillates, then back off to half that value. Then do the same thing with D.
The more I read about PID controllers the more I found that tuning the Integral and Derivative control terms is considered something of a black art. There are a number of constants in the formula, and tweaking them is done by trial and error, in other words: guessing.
At line 53 removed one line
* __[PID Controller|https://en.wikipedia.org/wiki/PID_controller]__ from Wikipedia (note the animation of adjusting P,I,D values in the ''Manual tuning'' section)
This page (revision-25) was last changed on 2021-11-08 09:09 by Murray AltheimTop