Shiny Doom Forum

[rklee]

Who here knows about PID control?
I'm currently using PID control to navigate my robots. PID Stands for Proportional, Integral, and Derivative Control.
Basically you take your input information (in a differential drive you use left speed and right speed... as well as various other information such as width or robot) and turn it into 3 numbers that you want to zero.

Proportional I think is somewhat obvious that would be the velocity difference of each wheel and corresponds to how much your robot will tend to curve.

Integral keeps track of how far off of the center line your robot is. So if you wish to travel in a s traight light your Integral should be zero. To calculate this just calculate the itnegral of the proportional.

Derivative is a dampening factor. To prevent overcompensation (which results in increasing waviness of the path) you want to have some sort of dampening.

It's a very good way to fixing deadreckoning and making robots move where u want it to move.

For more information: http://www.seattlerobotics.org/encoder/200108/using_a_pid.html

If you want to see my sample code please ask .
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"My Heart Is In the Work" - Andrew Carnegie

[Mogri]

Taking the 3 things into account seems like a great idea. What other methods are there?
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"A club without the right direction, is a misguided stick."
-- Master Wham

[Trool]

r u writing ur code i C for this??
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The most exciting phrase to hear in science, the one that heralds new discoveries, isn't 'Eureka!' but rather 'hmm....that's funny.'

--Isaac Asimov