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Lewis Gunsch
[edit] Overview
In this mini-project a Proportional Integral Derivative controller is to be implemented. It will be used to make intelligent command decisions regarding the seabotix thrusters on "Bearcuda" and future models. You can read up on PID control theory at the wiki page: PID Wiki, or here is another good article: Embedded Systems. This module should be portable and make no assumptions on the measurement being controlled, and should let error calculation be done by the client.
[edit] Other Notes
It is a simple PID controller expecting the client to provide a set point (goal or target position) and a current error. The error should be calculated as the target position minus the current position; The sign of the error is important in determining the direction of the effort. Currently - is left and + is right.
A more advanced system of control would be beneficial, although it is not a priority for the current year.
[edit] Progress
- There is extra code mixed in here for updating gains, needs to be removed and put into separate library.
- The update gains function should update the gains through parameters, not the serial line.
- Functionality for resetting the PID and setting a new set point should also be added.
- Documentation needs to be updated and finished
