PID controllers help

[Phalanx]

This paper has been one of my favorites to recommend when it comes to PID. While it's written for an embedded micro controller system in C the principles are the same and you should be able to gain some deeper understanding from it.

http://www.eetimes.com/design/embedd...-without-a-PhD

The full article PID without a PhD was published in the October 2000 issue of Embedded Systems Programming magazine. It is written to provide the embedded software engineer with a simple design method for writing a PID controller in software, without requiring any formal knowledge of control theory.

[billbo911]

Recently I found a PID article written for Lego Mindstorm. It is actually quite good and quite detailed. Portions of it are a bit deep for elementary school, but for the most part, quite easy to follow.

[Tommy.Brown]

When manipulating your PID values on your robot, the I value will generally be a very low number (or at least it was for our robot). You will want to change the P and D values, changing the I value slightly will make a big change in your robot. Also, make small changes to each value and test that value, doing a large change in value will not be good. I have personally seen our arm crash down and smash our pneumatic board and break a few solenoids.