Quote:
Originally Posted by dheerm
What do you mean by integrate the output? I take calculus and know the concepts behind PID but this wording is confusing me a bit. Could you please provide an example?
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Normally the output from the PID is the command that gets sent to the motor every control iteration.
Instead of doing that, keep an accumulator which gets incremented each control iteration by the PID output times some gain.
e.g.
accumulator += gain * PID_output
Use the value in the accumulator as the command to the motor.
(you'll also want to clamp the value in the accumulator)