Quote:
|
Originally Posted by gnirts
I am facing this challenge too, except PID code is controlling the position and elevation of our turret, plus its steering and autonomous mode.
There is no one in my area who has responded with any PID experience except those that use it for temperature control.
This leaves me with many questions about the best way to do PID control, like how long should the I values stick around? For something like controlling the spin (yaw) of a turret, should I even use I, or switch to PD?
Are you talking about the NAV code from 2005?
Eagerly waiting,
Robinson
|
The integral term is used for long-term steady-state error compensation.
Unless your robot will sit in the middle of the field for the entire match, I don't think it's really necessary.
There will be much larger errors induced by motion than the (usually small) steady-state error.
__________________
CMUCam not working? Tracks sporadically? Try this instead:
http://www.falconir.com!
PM me for more information if you are interested (it's open source!).
Want the FIRST Email blasts? See here:
http://www.chiefdelphi.com/forums/sh...ad.php?t=50809
"The harder the conflict, the more glorious the triumph. What we obtain too cheaply, we esteem too lightly; it is dearness only that gives everything its value."
-- Thomas Paine
If it's falling apart it's a mechanical problem. If it's spewing smoke it's a electrical problem.
If it's rampaging around destroying things it's a programming problem.
"All technology is run on 'Magic Smoke' contained within the device. As everyone knows, whenever the magic smoke is released, the device ceases to function."
-- Anonymous
I currently speak: English, some German, Verilog, x86 and 8051 Assembler, C, C++, VB, VB.NET, ASP, PHP, HTML, UNIX and SQL 