[Uberbots]

I was asked by Adamdb of team #1583 to post a code example of what we did to execute a PID loop. The two files, pid.c and pid.h are attached below.

in order to use a pid loop, you must do a couple of things. first, you create the data structure, for example:

PHP Code:

DT_PID arm; 


in some initialization code later, you need to initialize the constants

PHP Code:

init_pid(&arm, 100, 10, 10, 100, 5); 


(see the included file for the argument list)

then finally, you can execute the loop by doing this

PHP Code:

pwm03 = pid_control(&arm, errorValue); 


It really isnt that bad, and if you notice a lack of comments/explanation, please make a note of it. Also, this code doesnt go into the theory behind it, it only executes the theory. so if you dont know what a proportional coefficient is, then i suggest that you read this: PID without a PhD

happy control-loop-ing.

Edit: i added the default code plus the PID code for those of you who are having trouble getting started.