So I have been trying to understand the concept of what PID is and how it works? I don’t really understand how to implement it pros and cons, and the differences between P and PD loops. Any help would be greatly appreciated.

The p part is proportional, or what we nickname “error”. error = desiredValue - currentValue. This is a position, or delta x So if you get the derivative of error (which error is a position, or delta x), you will get speed (error - previousError). So, you can use the this to help correct if the ro…

pid_control_document.pdf 141.02 KB This should help. A lot.

Thanks a lot for this guide. I am still a little confused on how to implement this into a turn function. If you could help with that, it would be greatly appreciated.

I was wondering how I would change the “desiredValue” and “desiredTurnValue” from ticks to degrees in the autonomous?

Note: I’m assuming you turned this into VEXcode so my response will be based on VEXCode //These should be global, outside of while loops and whatever. double degrees_to_ticks_conversion = 1/5; //gear ratio void move_to_angle(double degrees){ desiredValue = degrees * degrees_to_ticks_conversion ; …

Hey Connor, I was watching the PID video and instead of setting the position to 0, would using resetposition() also work?

If your setting the position to zero while at zero nothing should happen, same with resetposition(). But if your current position is 20 and you set the position to 0, the robot will move to zero. From there resetposition will not move the robot position to 0, rather make 20 0. Im really good at ex…

I get what you mean. So should I set position to 0 like how Connor does in the video or should I use the resetposition function to set the encoder value to 0 and not move the robot

Hey Connor, I was watching your PID video and set everything up, but how would you set up the function to have the robot move to the desired encoder value, and then call that function in autonomous? An example code would be extremely helpful. Thanks so much.

What is a PID controller?

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trontech569 January 16, 2020, 7:51pm 2

This should help. A lot.

Vision sensor. Inertial sensor