Quote:
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Originally Posted by Larry Barello
For the typical low performance robot (I think FIRST robots count here), PD is needed for position control (proportional/derivative) and PI is needed for velocity control.
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Wouldn't it be vice-versa? I thought that the integral is neccesary for reaching the right value.
Quote:
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Originally Posted by Larry Barello
W/velocity control, often folks get away with just the I term. Something like:
output += SomeFudgeFactor * VelocityError;
So if you are slow, the output is built up until you are at the right speed, etc.
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how is this the integral? This looks proportional to me, just the current error.