[gnirts]

Originally Posted by Alan Anderson

[...] When turning a small amount, the output from the direction PID can sometimes be too small to get out of the Victor deadband on one side of the 'bot but still drive the other side. What happens is that the entire robot moves forward, while the feedback routine is assuming it's turning in place. [...]

A few questions:

• How does the entire 'bot move forward with only one motor out of the deadband? I would think it would turn around that wheel.
• In concert with the GTS, shouldn't the I term correct for this? (since the wheel in theory shouldn't be moving if the signal isn't enough to turn the motor)
• Just out of curiosty, what is this PID loop for? Is it used during autonomous or driver control?

Thanks,
Robinson