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rklee Uber-Karma
Joined: 11 Sep 2003 Posts: 495 Location: Malvern, PA Pittsburgh, PA
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Posted: Sun Oct 12, 2003 3:35 pm Post subject: PID Control |
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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 . _________________ "My Heart Is In the Work" - Andrew Carnegie |
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Mogri Uber-Karma
Joined: 12 Sep 2003 Posts: 535 Location: Malvern & Philadelphia, PA
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Posted: Sun Oct 12, 2003 4:34 pm Post subject: |
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Taking the 3 things into account seems like a great idea. What other methods are there? _________________ "A club without the right direction, is a misguided stick."
-- Master Wham |
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Trool Good Karma
Joined: 12 Sep 2003 Posts: 1486
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Posted: Mon Oct 13, 2003 7:25 am Post subject: |
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r u writing ur code i C for this?? _________________ 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 |
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