Thread: 1157 Has seen the light
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Unread 31-01-2007, 22:16
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Re: 1157 Has seen the light
Yes, that does use PID control. The pan servo on the camera uses a PD control, and the drive base uses a PI control using the pan servo and a yaw rate sensor. It is of course a holomonic drive, so rotation is very natural for the drive base. In addition this allows us to very easily both move towards the light and turn to face the light at the same time.