Context Navigation

IntroRobotJava

-                      v28
+                      v29
 This 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.
+Notice that there are two critical values in this control loop:
+  * How often the control loop runs (every 0.25 seconds in the above example)
+  * How much the control loop adjusts the power based on the sensed inputs (kP=0.01 in the above example)
+Try experimenting with these values (carefully and changing them a little at a time) to see what effect they have.  Be prepared to hit the Disable button or space bar when testing!
 == Study some examples