@@ -171,7 +171,9 @@ Using the grid search approach again, we first tried with 40 (robot falling forw
We changed the setpoint to 585 and tried values of p between 40 and 70. As before, 70 caused violent oscillations and instability. Both 55 and 40 seemed more stable. We decided to continue testing with a value of 40.
Additional observation: The robot seems to stop briefly once in a while. This seemed to happen more with p = 70 than with p = 40.
***TODO Nicolai: skriv om test af i-værdi***: The robot seemed to fall faster than it corrected - i.e. we need more motorpower as it falls.
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.
We tried to change the i-value - which was 4 initialy
