Thread: Problems with using 330's goal tracking code
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Unread 12-02-2009, 16:37
windell747 windell747 is offline
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Re: Problems with using 330's goal tracking code
Thanks for the replies Joe and Greg! Since you guys haven't mentioned anything about the layout of my code, can I assume that you think my code layout is correct, but I need to adjust the PID gains? I just want to validate my code before I start tuning.

Right now I'm testing the code by having it turn the bot towards the goal to ensure that the code is written correctly. I understand that I'll need to change the gains for the turret application, but it will be nice to know that the gains is all i need to change. When I ran the code out of the box from the team 330 posting, I figured that since our bots are similar in size, mass and drive configuration (tank drive) that their PID gains would be close to what I would want. So when I saw the bot oscillating, I immediately thought that it was a code problem. Just for confirmation, the out of the box gains in the program was proportional=0.5, derivative=integral=0.0.

Thanks!
Last edited by windell747 : 12-02-2009 at 16:39.
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