[Dprglist] PID

[Murray Altheim]

Hi,

Addressing the hunting behaviour on the KR01 robot that we've discussed
previously (i.e., rocking back and forth about 1/8 of a wheel turn after
stopping), here's a full color (!) log of the journey:

   https://service.robots.org.nz/wiki/attach/PIDController/pid_bounce_log.html

I may mention this in tonight's video discussion, thought to provide a link
here. It basically shows the encoder and PID controller output as the robot
accelerates to cruising speed then decelerates to a slow, targeting velocity
before attempting to stop at the 2 meter mark.

Cheers,

Murray

...........................................................................
Murray Altheim <murray18 at altheim dot com>                       = =  ===
http://www.altheim.com/murray/                                     ===  ===
                                                                    = =  ===
     In the evening
     The rice leaves in the garden
     Rustle in the autumn wind
     That blows through my reed hut.
            -- Minamoto no Tsunenobu