Inertials and PID

[Casey]

I’m an upcoming sophomore who recently competed this season in Tipping Point. I was able to code successful match/skills autons, but was looking to take the next step in terms of programming. I’m mainly looking to teach myself PID and utilizing sensors (particularly inertial), but was wondering where I could start. I haven’t been able to find any solid (or new) beginner guides, as I want to start pretty small and simply get a grip on how to use PID. Any help appreciated.

[RoboCatz]

@Casey

I haven’t been able to find any solid (or new) beginner guides, as I want to start pretty small and simply get a grip on how to use PID. Any help appreciated.

http://georgegillard.com/programming-guides/introduction_to_pid_controllers_ed2-pdf?format=raw

If this isn’t enough I would search around this forum. There are plenty of other resources/threads with information on PID.

[Casey]

Thanks, I’ll take a look

[Connor]

If you search for “VEXCode PID” on VEXForum you will find plenty of examples on how to code a PID algorithm:

VEXCode PID Tutorial

I will be allocating this thread to answering any questions in regards to the tutorial [C++ VEXCode V5 Text Tutorials - Autonomous PID and Multitasking] Fair Warning: I am unsure if I have the positive and negative motor values correct, as this is all done on the top of my head. So If the robot is continuing to go even after the lateral position is reached, change error = averagePosition - desiredValue; to error = desiredValue - averagePosition; If the robot continues to go even a…