PID Control

[eugenebrooks]

Originally Posted by Chris Bright

SO we all know by now that not many people used the CMU cam with any success. Who here has used the default PID code given by first? We didn't because there wasn't enough time or need. I'm just curious.

We wrote our own PID code, as we have been in prior years.
It is pretty straight forward once you understand the basic
concepts of a mass, spring and a velocity dependent damping
force. Students have no problems understanding and implementing
these things, with a little guidance.

[Anthony Kesich]

I am actually using the default PID algorithm given to us by FIRST. It has done its job well for me. I use the velocity controler for driver interface. I actually makes the driving much smoother and easy to control. I am also using the position controller for autonomous. I have had great succes with both.

One of our member's father is actually a professor of control algorithm at UC Davis so he went over all of the code with me. For calibration ease, he actually had me make the kD = 0. I've kept it that way and it catually seems to work just fine. So, in reality, I am using a PI algorithm.

-Tony K