Thread: Running multiple PID loops on the drivetrain
View Single Post
  #2   Spotlight this post!  
Unread 20-02-2013, 13:02
Chris Hibner's Avatar Unsung FIRST Hero
Chris Hibner Chris Hibner is offline
Eschewing Obfuscation Since 1990
AKA: Lars Kamen's Roadie
FRC #0051 (Wings of Fire)
Team Role: Engineer
  
Join Date: May 2001
Rookie Year: 1997
Location: Canton, MI
Posts: 1,488
Chris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond reputeChris Hibner has a reputation beyond repute
Re: Running multiple PID loops on the drivetrain
Quote:
Originally Posted by F22Rapture View Post
Is it possible to use more than one PID controller for a subsystem like the drivetrain? Example: An encoder PID loop to drive to a distance setpoint, while a gyro PID loop keeps the robot going straight.

You could also substitute encoder with Ultrasonic sensor, etc.

If you can't run them simultaneously, is there a way to switch between PID controllers to, say, drive forward 5 meters distance (via encoder), then turn 90 degrees (via gyro), then drive forward again, etc?
Yes. Feed the output of the PIDs into Arcade Drive. Use the output of the angle control PID as the joystick input that makes the robot turn, and use the output of the distance PID as the joystick input that makes the robot drive forward.
__________________
-
An ounce of perception is worth a pound of obscure.
Reply With Quote