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Unread 03-12-2010, 13:50
mwsmith78 mwsmith78 is offline
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Re: Mecanum - use of gyro

Thanks for all the great feedback. We tried out the example VI last night. We inserted it in the Timed-Tasks area with a 20ms wait loop.

We had to debug some other problems that ate up much of our time last night, but once we got past that it sort of worked. PID gains were VERY sensitive. We had lots of trouble getting a stable AND responsive control loop. Tried using a P-only loop, but responses ranged from 1) robot studdering to get to desired angle or 2) robot overshooting and wildly rotating back-forth. Had to keep P<0.02 in order for it to be stable (but not really responsive). Will try tweaking the gains more next week. Have others had this much trouble tuning a PID loop?
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