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Document PID #1
Description
While I have lots of software development experience, I am only doing robotics with EV3 for fun with my kids. And I have no idea what PID is and the quick google results did not give me the tight intro I was looking for.
(I am a chemist and physicist by training, so the Calculus explanation will do. ;-)
Activity
laurensvalk commentedon Mar 22, 2020
In that case, this might get you started for now. Equation (1) has the basic idea. In speed control (
run,run_time), the erroreis the speed error. In position control (run_angle,run_target),eis the angle error.A simplified version is intended to be eventually included on the "More about Motors" page.
laurensvalk commentedon Mar 22, 2020
The implementation is very different though, avoiding almost all numerical differentiation and integration steps. On the other hand, this brings it closer to the theory than most numerical PID implementations :)
strichter commentedon Mar 24, 2020
BTW, the link helped me to get the idea.
laurensvalk commentedon Mar 24, 2020
Sounds good. I'm thinking I'll leave this issue open until we've documented it in the docs.