... | ... | @@ -138,7 +138,7 @@ To systematically observe which values of P, I and D worked better for our robot |
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#### Grid-inspired search and extrema exploration
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We decided to test the effect of different values for the parameters using a technique inspired by grid search: We selected a range of values to try out for each parameter (*setpoint*, *P*, *I*, and *D*) and then varied one parameter while keeping the others fixed. We began by testing different values with rather large intervals in between, including extreme values on either side of the value provided in Bagnall's code (p = 28, i = 4, d = 33). By extreme, we mean values far away from the provided values. According to which values gave the best results we then made the search around these values more fine-grained.
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#####Finding a good setpoint
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#####Finding a good setpoint
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To find the best possible setpoint, we followed the procedure described above and narrowed our way into a good value by starting with (from our prior experience) low and high values. The resulting observations are presented in table 1. We ended up selecting an SP value of 577. The process is described more closely below.
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| Setpoint value | Status | Observation |
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