@@ -127,6 +127,17 @@ To systematically observe which P, I and D values work better for our robot, we
...
@@ -127,6 +127,17 @@ To systematically observe which P, I and D values work better for our robot, we
##### Finding a good setpoint
##### Finding a good setpoint
To find the best possible setpoint we decided to use the PID values of Bagnalls initial program ([TODO insert values]) and then trying to narrow our way into the best possible value by starting with a, from our prior experience, low- and high value. This gave the observations seen in table 1.
To find the best possible setpoint we decided to use the PID values of Bagnalls initial program ([TODO insert values]) and then trying to narrow our way into the best possible value by starting with a, from our prior experience, low- and high value. This gave the observations seen in table 1.
| Setpoint value | Status | Observation |
| --- | --- | --- |
| 500 | Too low | Immediately falls backwards |
| 750 | Too high | Immediately falls forwards |
| 600 | Too high | Falls forwards |
| 550 | Too low | Falls backwards|
| 580 | Too high | Falls forwards, with short balance|
| 570 | Too low | Falls backwards, with less balance than upper |
| 575 | OK | Feels like most backwards|
| 578 | OK | Pretty good initial balance with no preferende fall-direction|
