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Originally Posted by Eldarion
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. |
So just PD is the way to go with the turret? What about steering (i.e. if both joysticks (we do tank drive) are set to the same value and the robot
should be going straight, but the gyro tells me my angular rate is > 0 deg/s). I would like to compensate with some form of closed loop control, is PID/PD/P/PI/whatever the way to do this?
Thanks in advance,
Robinson