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Unread 05-12-2010, 00:27
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Re: Mecanum - use of gyro

Quote:
Originally Posted by jhersh View Post
the benefit of the automatic delta time calculation is that your controller will still behave well even in the presence of jitter. It simply measures the jitter and uses the actual time instead of the ideal time when computing the I and D terms.
Capisco. I just misread the LabVIEW documentation.

Out of curiousity I looked at the PID block diagram to see what numerical integration algorithm it uses. Not being very adept at LabVIEW I couldn't parse it (and it wasn't commented). Is it simple Euler or something more sophisticated ?



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