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 Author: madscientist032 [ Mon Feb 16, 2009 7:29 pm ] Post subject: Re: Lego motors what exactly does the PIDcontrol do anyways?

 Author: Sunny1261 [ Mon Feb 16, 2009 8:36 pm ] Post subject: Re: Lego motors Google is your friend. . In short, when you set your motor to 50, the program is sending 50% power, but the motor might no be running at that power level, for instance friction and other factors are involved, so PID accounts for the difference and adds/subtracts this to the value. Stands for Proportional Integral Derivative.

 Author: Emilhem [ Mon Feb 16, 2009 8:59 pm ] Post subject: Re: Lego motors The PID is controlling the speed of the motors.Uses the encoder to find the actual speed.Without PID:Your wanted speed = 40The power motor receives = 40With PID:Your wanted speed = 40The power the motor receives = 40The measured speed = 25Calculated difference = -15PID extra power = 15The power the motor receives after PID difference= 55The measured speed = 35Calculated difference from wanted speed = -5PID extra power = 5The power the motor receives after PID difference= 60The measured speed = 41Calculated difference from wanted speed = 1PID extra power = -1The power the motor receives after PID difference= 59Continues forever

 Author: madscientist032 [ Fri Feb 27, 2009 9:08 pm ] Post subject: Re: Lego motors so is enabling PID control useful or not? I figured it was messing with our motors since the beginning so I turned it off.

 Author: 10nisman94 [ Fri Feb 27, 2009 10:53 pm ] Post subject: Re: Lego motors it is useful in autonomous only if u have encoders but bad for tele op, it gives tele op a jerky feel.

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