[Dprglist] straight lines

[Paul Bouchier]

Thanks for the videos David. As always, your robots run very precisely and
deliberately.

One question about the right wheel speed overshoot after hitthing the mat:
I remember you showing some plots of your PID controller response to a step
input a bit before Christmas, and showing that there was no overshoot when
accelerating (IIRC), and what you thought might be overshoot when
decelerating was actually a kind of elastic reaction to the negative
voltage being used to slow the robot (IIRC), akin to what happened when you
tried to manually turn the wheel. I may not have understood it fully at the
time, but
1) isn't such an elastic reaction actually overshoot inasmuch as velocity
doesn't smoothly ramp to zero?
2) in the video from yesterday, do you know whether the acceleration &
"catch-up" experienced by the wheel that hit the mat was solely due to the
PID loop building up "pressure" (i.e. an overshoot), or is it in part or
whole a result of a change in setpoint caused by the IMU detecting rotation
and correcting for it?

Your robots are precise enough that you can see subtle effects but their
cause isn't always clear - just trying to understand it.

Paul
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