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Unread 15-02-2006, 03:23
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Re: Tuning PID Code

Quote:
Originally Posted by gnirts
I am facing this challenge too, except PID code is controlling the position and elevation of our turret, plus its steering and autonomous mode.

There is no one in my area who has responded with any PID experience except those that use it for temperature control.

This leaves me with many questions about the best way to do PID control, like how long should the I values stick around? For something like controlling the spin (yaw) of a turret, should I even use I, or switch to PD?

Are you talking about the NAV code from 2005?

Eagerly waiting,
Robinson
The integral term is used for long-term steady-state error compensation.
Unless your robot will sit in the middle of the field for the entire match, I don't think it's really necessary.
There will be much larger errors induced by motion than the (usually small) steady-state error.
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