Changes between Version 11 and Version 12 of ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl


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Timestamp:
Nov 9, 2019, 8:25:54 PM (6 years ago)
Author:
David Albert
Comment:

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  • ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl

    v11 v12  
    33
    44Create a new project named !ClosedLoopControl and replace the default Robot.java with:
    5 * PWM [wiki:ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/PWMCode Robot.java]
    6 * CAN [wiki:ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/CANCode Robot.java]
     5* PWM [wiki:ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/PWMCode Robot.java](Macadamia)
     6* CAN [wiki:ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/CANCode Robot.java] (Hazelnut, Almond)
    77
    88This is the simplest form of closed-loop control: we are sensing position information (left, right distances) and adjusting powers proportionally (kP) to try to minimize the error.  There are more sophisticated ways to do this that consider how quickly the robot is approaching its goal (derivative of error) and how long and how severely it has been off its target (integral of error).  The PID control loop uses all of these for more precise and responsive closed loop control.