Quote:
Originally Posted by ekapalka
Why exactly would I need to use a PID loop?
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There are a few different things you can do with your control inputs:
user controls -> x,y relative to the robot, theta (turning speed) in an amount clockwise/counterclockwise -> motor values
user controls -> x,y relative to the field, theta (turning speed) in an amount clockwise/counterclockwise -> motor values
user controls -> x,y relative to the field, theta (as an orientation goal relative to the field) -> motor values
If you choose the 3rd one, then you need some sort of control loop to make it so that with constant user controls, the robot will turn to the desired angle but then stop once it gets there. He is suggesting that the control loop could be PID.