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Line Following with PID
Has anyone ever tried writing line following code using a PID style control system.
Right now I am using Lego Mindstorms, programming it with NQC (basically C for mindstorms with a few built in functions), and I am only allowed to use two light sensors.
Right now I am sucessfully able to drive my motors by having one function that rapidly turns them on and off for a certain period of time, which is passed to the function (in 10's of milliseconds). I take the threshold value of the black material and from it I subtract the current sensor value. I multiply that value by a gain and voila. That works well.
But then I tried to implement a Derivative control and everything went beserk.
Anyone ever do this or have any type of experience with it?
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Team 1546 Chaos Incorporated
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