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#8
11-01-2008, 00:23
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Re: PID question
I added the divide by x's in there to increase precision... basically this robot controller cannot do floating point calculations, so i had to tell the controller to divide by something to get some amount of precision.
when i divide by ten, you are essentially getting precision of control to 1 decimal place, 100 is two, and 1000 is three. kI is divided by 1000 because typically very small changes in that constant can have a very large impact on the system. likewise, larger changes on kD wont have such a great impact. and yes, the function is limited to 0-255. |
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