Do you write functions for your code?

[Jay Lundy]

Originally Posted by maxlobovsky

I understand the theory behind it, but id be interested in seeing some actual implementations of it, especially ones including the I and D not just the P in Proportional, Integral, Differential

We had the same problem someone else mentioned: a long, double-jointed arm that would fall under the weight of gravity. We ended up writing a PI loop to solve the problem. We use pots on the joints (that sounds wrong), which we use to maintain either a target velocity or a target position. It actually works really well for us.

We're a little busy right now, but we may write something up about it eventually.