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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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MIT Mechanical Engineering
>> College Mentor, Team 97: Cambridge Rindge and Latin School with The Edgerton Center, MIT Mechanical Engineering, Bluefin Robotics, and Draper Laboratory
>> Alumnus, Team 527: Plainedge HS
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