Skip to content

Changes

Page history
rene2014 created page: Lesson 5 authored by Steffan Lildholdt's avatar Steffan Lildholdt
Show whitespace changes
Inline Side-by-side
Lesson-5.markdown
View page @ eeaeb701
...@@ -32,6 +32,8 @@ We know that the surface which the robot is placed on affects the control mechan ...@@ -32,6 +32,8 @@ We know that the surface which the robot is placed on affects the control mechan
![Surfaces which the self-balancing robot is tested on](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson5/Images/LightSensorSurfaces.jpg) ![Surfaces which the self-balancing robot is tested on](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson5/Images/LightSensorSurfaces.jpg)
By inspecting the robots control mechanism we concluded that the best of the three surfaces was the blank white surface and therefore the following tuning and analysis of the PID paramters are performed on this surface.
The standard software architecture is used along with the “LightPIDController” class. The standard software architecture is used along with the “LightPIDController” class.
By repeatedly tuning the parameters through the PC GUI we ended up with the best possible setting of: By repeatedly tuning the parameters through the PC GUI we ended up with the best possible setting of:
......