Quote:
Originally Posted by Jared Russell
1) Figure out what the minimum required output is to get the robot to turn at all. If the PID output is less than this magnitude, output this magnitude (with the same sign as the PID output).
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Wouldn't this cause oscillations, if the output switches between positive and negative of this magnitude?
As a related idea that I had, I wonder if it would make sense to find some magnitude where the robot
almost turns (but is still stopped) and
add it to the PID output. Maybe it would simulate low friction or something.