Quote:
Originally Posted by gpetilli
The robot clearly actively resisted any movement. When forcibly kicked two feet out of place, I was surprised but the robot actively returned to the original position and orientation . I have not had time to investigate, but I think the PID is integrating the velocity error correction (any velocity is error with a zero commanded velocity) and then "de-integrating" the error.
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Wow... that sounds amazing. Was this just using the simple WPILib PID classes or was it something else entirely? We've been looking into using closed loop control on our robot this year (we haven't ever in the past) and were thinking a "stay in place" button would be a cool [possibly unnecessary] thing to do for learning purposes (our robot is relatively simple).