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Reserved for PID Control

PID Tutorial and Examples (VEXCode)

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…

If you are planning on using PID on arms, add Gravity Compensation or else the PID will not work properly:

Weight Negation (Gravity Compensation) Tutorial

Hello everyone! As I am working on my robot, I have to think about how to program my robot in such a manner where the robot is almost capable to hold its own position without the need of additional elements. Basically speaking, PID is built in such a manner where it doesn’t take consideration of weight, but it is essential in going from point A to point B with the extra ability to react against external forces. So, what we need to do is create a simple convenient algorithm to negate weight to b…

PID Example (ROBOTC)

What is a PID controller?

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 robot is moving too fast or too slow due to external sources like additional unknown friction or battery crapping out. How the derivative is applied in code is by error(current error at the moment) - p…

PID for Autonomous in Vex Coding Studio