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Re: P.I.D. Control for the arm
The not outputting enough is a problem with the integral ("I") component being too low. You want to increase it (though small changes make a huge difference)
One trick we did to keep the I from building up too much is to set the integral error (the one that keeps adding each frame) to 0 when it has passed the target angle (you can clear it if it's within 5 or 10 ticks, depending on what works best and your tolerance)
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-Patrick Horn, Paly Robotics
Check out the space simulator called Vega Strike, modelled after the space simulator games Elite and Wing Commander. It's Open Source too!
If you have ever played Wing Commander, or especially Privateer, and had a feeling of nostalga derived from the you will enjoy these two Vega Strike mods: Privateer Gemini Gold and Privateer Remake!
I'm working on adding multiplayer support this year...
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