@@ -102,12 +102,11 @@ Based on Hurbain [2], we know that the PID constants used in Sejway.java program
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@@ -102,12 +102,11 @@ Based on Hurbain [2], we know that the PID constants used in Sejway.java program
Note: Camilla & Nicolai: Vi valgte at udlade at vi ændrede ints til floats, fordi vi alligevel caster dem til ints de fleste steder og har svært ved at finde på argumentation for hvorfor det skulle gøres udover "ole said so"
Note: Camilla & Nicolai: Vi valgte at udlade at vi ændrede ints til floats, fordi vi alligevel caster dem til ints de fleste steder og har svært ved at finde på argumentation for hvorfor det skulle gøres udover "ole said so"
In order to optimize our experimentation with various PID values for the program, we decided to make a PC GUI program to send new values to the robot over Bluetooth, on-the-fly while testing, rather than having to upload a new program with every value change.
The next step seems to be changing the parameters, as Hurbain says that the values of the program are used from a calibration of his light sensor.
### Choice of parameters on the fly
### Choice of parameters on the fly
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#### Making the program
We used the **TrackerController** class [4] from lesson 2 as a basis for our GUI, and ended up using ***PIDController.java*** on the PC and ***PCconnection.java*** + ***Sejway.java***.
We used the **TrackerController** class [4] from lesson 2 as a basis for our GUI, and ended up using ***PIDController.java*** on the PC and ***PCconnection.java*** + ***Sejway.java***.
When able to control the calibration (Setpoint) variable, we made the robot 'fall' to both sides. This means that we now can be able to control the PID-variables.
When able to control the calibration (Setpoint) variable, we made the robot 'fall' to both sides. This means that we now can be able to control the PID-variables.
