Thread: Manual Velocity PID, anyone successful?
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Unread 18-01-2006, 18:20
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Chris_Elston Chris_Elston is offline
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FRC #1501 (Team THRUST)
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Manual Velocity PID, anyone successful?
Has anyone been successful implementing a manual velocity PID for manual driving?

Did you use single or tank drive joysticks?

What worked better for you? Converting your PWM values to a percent based power where 255 = 100%, or just sticking with PWM values.

Did you design two independent PID's for each wheel? Then how did you integrate them together to make the robot drive straight? Did you have something joining your two PIDs together?

Basically, I was wondering if anyone wanted to share their theory if you've ever got this to work.

Seem rather tricky measuring a velocity from encoders, converting to a "PWM value or percent based command", then reading a joystick value, and integrating the encoder feedback two ways for each wheel, then trying to slave them together, and trying to TURN too....confusing control theory....

Anyone want to share?
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