[Dprglist] PID

[Rud Merriam]

Hi,

I'm not understanding the log outputs.

At line 9740 the stbd motor has reached the 2m mark. The setpoint is set 
to 10.00 while earlier it was set to 50.00. I would think the setpoint 
should be the end position, i.e. 2m equivalent.

At line 9754 setpoint is not 0 and the error is 10.019. If it is at the 
end position the error should be 0. After that error is non-zero so 
outputs are generated which move the motors.

IMO the setpoint should be the number of steps (or equivalent) you want 
the motor to have moved. The error is the difference.


-73 -
*Rud Merriam K5RUD*
/Mystic Lake Software/ <http://mysticlakesoftware.com/>

On 9/29/20 7:24 PM, Murray Altheim via DPRGlist wrote:
> 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
>
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