Quote:
Originally Posted by AustinSchuh
I spent a long time tuning a PID loop for one of 254's bots, and was only able to fix the issue by securing the pot by a bracket instead of by the wires. Sure, it works most of the time, but I'm no longer willing to take most of the time as an answer.
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We saw the same issue last year on our elevator, as we pushed the pid to get more speed out of the elevator, we had trouble tuning the system at higher speeds. The issue was not surgical tubing slipping, it was some allowed twisting when elevator changed directions when stacking at high speeds.
We replaced the surgical tubing with 1000psi 1/4" fuel line from autozone, and was able to tune system just fine at high velocity change rates.
I did not believe it that a ball bearing encoder could flex the surgical tube, but the system controls was significantly less stable than with the fuel line.