So, I’ve been thinking about using TBH instead of PID for this season, but I haven’t been able to find a clear explanation of how it works, as well as the advantages/disadvantages of using it over PID. So, does anyone know about these?

Here is an excerpt from the SIGBots Wiki regarding the “Take Back Half” controller: [TBH] is typically outperformed by a well-tuned PID control in situations like distance control for driving where the desired end output is zero, but for situations like ﬂywheel velocity control and straight drivin…

I see; I’ll probably use TBH for my flywheel then. Just to clarify: a TBH loop is just an I loop, or is something added to make it work better?

[image] Iogician: It seems like it’s basically like isolating the “I” in PID and using that for error correction. Not too far off. But honestly, most of the time there is no need to use all the 3 elements of PID.

[image] meng: Not too far off. Just wondering if you could tell me the difference between a simple I loop and TBH? Also, do you have some advice on knowing when a certain element of PID is needed?

To the best of my knowledge the main difference between a TBH Controller and an I loop is that TBH “Takes back half”. Basically when the difference between the target and current value changes signs we average the motor power and previous motor power together and set them both equal to the result. T…

Think this is a very thorough explanation of PID. [image] 9.2: P, I, D, PI, PD, and PID control A variety of process controls are used to manipulate processes, however the most simple and often most effective is the PID controller. The controller attempts to correct the error between a …

This is really helpful; thanks for the explanation and tip!

Everybody’s knows that TBH is useful because you can use less keyboard strokes to type out the common phrase “To be honest”.

I use it, it works pretty well.

How useful is TBH?

VEX V5 General Discussion Technical Discussion

jpearman July 30, 2022, 4:03pm 9

We were discussing TBH a lot back in 2015, not sure if it is even needed these days as motors have velocity control built into their firmware now. If you do try using it, make sure to run the motor in open loop mode, ie. use voltage control.