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Re: Driving Straight
I've seen a number of FLL teams use an approach similar to what I attached. They will have three to five cases where they tune the coefficients or return hard-coded numbers. Sometimes the sensor is an ultrasonic sensor to follow a wall instead of two encoders. Sometimes they reset the sensors inside the loop instead of accumulating.
These approaches work pretty well if the loop runs fast enough. It gives them a piece to tune and once they gain a sense of how the control works, you can add storage and have both integrated and term-to-term error, and pretty soon you have a simple PID, or at least the portion of it that you need for that problem.
Since FRC robots take lots of space and infrastructure to run, you may find it useful to use a smaller robot to structure the code, then try it out on an FRC bot.
Greg McKaskle
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