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smp4903 created page: Group_6_Lab_Session_5 authored by Stefan Michael Pedersen's avatar Stefan Michael Pedersen
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...@@ -42,14 +42,12 @@ Challenging the advice Phillippe Hurbain we tried to change the surface on which ...@@ -42,14 +42,12 @@ Challenging the advice Phillippe Hurbain we tried to change the surface on which
#### Experimenting with PID Constant Values #### Experimenting with PID Constant Values
The native constants of Brian Bagnall's PID, allowed the robot to balance for a few seconds, which we didn't find satisfying. Through trial-and-error we've narrowed in on the following constants, which gave us increased performance: The native constants of Brian Bagnall's PID, allowed the robot to balance for a few seconds, which we didn't find satisfying. Through trial-and-error we've narrowed in on the following constants, which gave us increased performance:
**Power = 40** (proportional error values). ````java
Power = 40 (proportional error values).
**Integral = 10** (accumulating errors) Integral = 10 (accumulating errors)
Differential = 40 (change in error over time)
**Differential = 40** (change in error over time) Scale = 18 (direct scaling of the entire error value, can be useful with different battery levels)
````
**Scale = 18** (direct scaling of the entire error value, can be useful with different battery levels)
**The performance can be seen in this video: [Self-balancing robot with light sensor - PID Constants](http://1drv.ms/1EFIphV).** **The performance can be seen in this video: [Self-balancing robot with light sensor - PID Constants](http://1drv.ms/1EFIphV).**
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