VEX PID Control Functions - Revision history

Tfriez: /* Variables */

2012-12-07T15:11:04Z

Variables

2012-12-07T14:29:47Z

Variables

2012-12-06T22:26:58Z

moveMotorToPosition (coming soon)

2012-12-06T22:26:28Z

moveMotorToPosition (coming soon)

2012-12-06T22:25:35Z

driveSynchronizedToPosition (Coming Soon!)

2012-12-06T22:25:22Z

driveStraightToPosition (Coming Soon!)

2012-12-06T22:24:01Z

slaveMotor

2012-12-06T22:23:22Z

slaveMotor

2012-12-06T22:23:10Z

slaveMotor

2012-12-06T22:15:39Z

slaveMotor

@@ Line 134: / Line 134: @@
    |-
    |<syntaxhighlight lang="ROBOTC">mtrPid_SlewDown[port1] = 10; //Set the "Slew Down" rate to use increments of 10 when ramping down the motor speed with PID.
 </syntaxhighlight>
    |-
@@ Line 292: / Line 273: @@
    |-
    |<syntaxhighlight lang="ROBOTC">mtrPid_PowerLimit[port1] = 100; // Sets a limit on Motor Port #1 to not go above power level 100.
 </syntaxhighlight>
    |-

@@ Line 86: / Line 86: @@
    |-
    |<syntaxhighlight lang="ROBOTC">mtrPid_kD[port1] = 75; // Sets the Derivative Gain Parameter in the PID loop to 0.75 (75/100)
 </syntaxhighlight>
    |-
@@ Line 293: / Line 257: @@
+	}
+}
 </syntaxhighlight>
    |-

@@ Line 433: / Line 433: @@
    {|
    |-
-   |<syntaxhighlight lang="ROBOTC">moveMotorToPosition(port1, 75, 1000); // Rotates the motor on port one forward at 75 power level until 1000 encoder counts are reached
+   |<syntaxhighlight lang="ROBOTC">moveMotorToPosition(port1, 75, 1000); // Rotates the motor on port one forward at 75 power level until 1000 encoder counts (within the defined "slop" margin-of-error)
 </syntaxhighlight>
    |-

@@ Line 429: / Line 429: @@
 |-
 |-
-| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_void|void]]) This function will allow the specifed motor to travel a specific distance and come to a stop after it has completed its movement. This function will cause the motor to ramp its speed downward to ensure the motor stops within a specific distance of the defined target. This "slop" distance is defined by the mtrPid_Slop[] variable.
+| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_void|void]]) This function will allow the specified motor to travel a specific distance and come to a stop after it has completed its movement. This function will cause the motor to ramp its speed downward to ensure the motor stops within a specific margin of error of the specified target. This margin-of-error (slop) distance is defined by the mtrPid_Slop[] variable.
 |-
    {|

@@ Line 411: / Line 411: @@
 |-
 |-
-| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_void|void]]) Used to drive the robot straight for a specified amount of encoder counts using synchronized motors
+| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_void|void]]) Description coming soon!
 |-
    {|
    |-
-   |<syntaxhighlight lang="ROBOTC">driveStraightToPosition(port1, port10, 75, 1200); // Drives the robot straight forward by synchronizing the motors on ports 1 and 10 at a maximum of 75 power level for 1200 encoder counts.
+   |<syntaxhighlight lang="ROBOTC">driveStraightToPosition(port1, port10, 75, 1200);
 </syntaxhighlight>
    |-
@@ Line 422: / Line 422: @@
 |}
 <br />
 === moveMotorToPosition (coming soon) ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"

@@ Line 369: / Line 369: @@
 | style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_void|void]]) Slaving two motors together is important for robots that use multiple motors in the same gear train. The slave motor will run as the same PID regulated speed as the master motor.
-This allows you to only need one motor with an integrated encoder in a gear train to have a PID effect on the entire gear-train.
+The "slave" command allows you to only need one motor with an integrated encoder (with PID enabled) in a gear train to have the same PID effect on the entire gear-train.
 |-
    {|

@@ Line 375: / Line 375: @@
    |<syntaxhighlight lang="ROBOTC">task main()
+{
-	slaveMotor(port10, port1);  //Set Motor Port #10 as the "Slave" motor and Motor Port #1 as the "Master" motor
+  slaveMotor(port10, port1);  //Set Motor Port #10 as the "Slave" motor and Motor Port #1 as the "Master" motor
    motor[port1] = 50;  //Turn on Motor Port #1 (which will also turn on Motor Port #10 as the same speed)

@@ Line 367: / Line 367: @@
 |-
 |-
-| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_void|void]]) Used to specify a master and slave motor when pairing motors
+| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_void|void]]) Slaving two motors together is important for robots that use multiple motors in the same gear train. The slave motor will run as the same PID regulated speed as the master motor. This allows
 |-
    {|