@@ -172,6 +172,7 @@ We changed the setpoint to 585 and tried values of p between 40 and 70. As befor
Additional observation: The robot seems to stop briefly once in a while. This seemed to happen more with p = 70 than with p = 40.
*I value:*
We observed that once the robot started falling in any direction (forwards or backwards) it would generally keep slowly falling in that direction until tipping over (despite also driving in that direction in an attempt to balance). As such, we needed a stronger reaction on past accumulated errors, which is exactly what the integral variable controls, so we experimented with different I-values.
Initially the I-value was 4, and as just explained we needed a stronger reaction on past errors, so we attempted increasing it.
