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In the pid code from First's "Navigation" sample, there is something I don't understand.
The integral error is combined with "pid_time", which is unfamiliar to me, I thought the integrated error (sum) should just used as is. motor_info[motor].pwm = (KP_P * motor_info[motor].pos_error) + ((KI_P * motor_info[motor].pos_error_i)/pid_time) + (KD_P * motor_info[motor].pos_error_d); This pid_time variable is reset when the target position (or velocity) is changed, but the integral value is not also cleared. Won't that cause problems? |
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