PID explained

The topic of PID often comes up when I talk with FIRST teams. This post is how I explain it to students. I was recently explaining it in a post on Chief Delphi, so I decided to turn it into a blog post while I was at it. The basic idea for PID is that it corrects for errors. if you make a PID loop based on position, it will move your motors such that the position is what you want. you can replace the word position with the words velocity, angle, and even acceleration or motor current. you can also loop multiple parts of your motion. (i.e. Loop position and velocity), but for FIRST, you usually only need to put a loop around one thing. Let’s use position for discussion, which is easiest to visualize. First, you need a way to measure your position (an encoder can be used […]

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