Tuning PID - Chief Delphi

22-01-2016, 16:57

TimTheGreat TimTheGreat is offline

ArchdukeTim

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Join Date: Jan 2013

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Posts: 231

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Tuning PID

On our robot is an arm with 3 positions

Up
Middle
Down

Middle is about 1/4 the way between down and up (closer to down)

We control the arm with encoders on AM-2971 motors. When we tell the arm to go from up to middle, it gets to the position fine, but when we go from down to middle, it undershoots and only goes about halfway.

The current PID is 2, 0, 0.

What can we change to make the arm not undershoot when moving the short distance between down and middle?

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