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Unread 15-02-2005, 22:32
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ZZII 527 ZZII 527 is offline
"Scale Electric Vehicle"
AKA: Shane Colton
FRC #0097
Team Role: College Student
 
Join Date: Feb 2004
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Re: arm-limitting gyro PD loop producing some strange results

Thanks so much! I cleaned up the code by making my accumulating variable an actual integral correction and adding a proportional correction like you suggested. Mixing them together produced a pretty effective control loop, although it still needs a lot of tuning. But a cool result was that we were able hold our arm horizontal, put a cup of water on it, and tilt the robot backwards and the arm would self-correct to level without spilling any water:



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