Thread: paper: PID Control Theory for FRC Programming
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Unread 10-04-2006, 23:59
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Re: paper: PID Control Theory for FRC Programming
Quote:
Originally Posted by Tom Bottiglieri
Just a note:

The equations given in text state the following:

POUT = KP * KERR

But your code shows the proper integer based math method of performing this expression.

POUT = KERR * KP

It's quite clear why the variables need to assume this order, but I did not find it documented that there IS a difference between the "text book" equation and your example.. (it is more accurate to "round" later in the equation, after your numbers have built up.)

Either way, great paper! I plan to include this in my "required reading" for new programmers on my team.
I'll keep that in mind for the next revision of the paper. Meanwhile if anyone has any comments or suggestions, feel free to post them here, or PM/Email them to me. I hope this paper is of use to everyone and I'm also available to answer specific questions either through CD or the contact information in the paper.

Good luck!
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