My team has been trying to turn our base to a specified angle which we are getting from our Limelight, and we have been using a single PID that takes the angle as its setpoint and drives both motors in opposite directions. At the moment we have been getting our base within two degrees, although we think we might be able to improve that by tuning our integral zone and our integral term. However, I wanted to know if anyone is using a different methodology. Specifically, I was thinking about using two separate PIDs on the each side of the base to control velocity, and using the angle PID to generate velocity setpoints. I want to know if anyone has had any success with this before we spend the time implementing and tuning it.
That’s called cascaded PID and is actually pretty common. You seem to have a good handle on the concept, let us know if you get stuck!
Ok, thank you! That gives me hope that we won’t be chasing a futile solution!
Take a look at DifferentialDriveKinematics, which converts forward/sideways/turn to wheel speeds.
Oh I see, to serve as an intermediary between the angle PID’s output and the velocity PIDs’ inputs?
Yep pretty much.
This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.