Retune PID controllers for DOF #85
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Looks like the only change wanted from this PR is taking away the + in stateLocalRef and the tuning of the PID´s. That should be a different PR since this one is about switching gains depending on velocity. If this is merged, we are switching between the same gains for different values. Meaning, computational time for no effect.
| #define MIN_CHIP_TIME 10 // minimum time [ms] period of chipping | ||
| #define MAX_CHIP_TIME 100 // maximum time [ms] period of chipping | ||
| #define MIN_CHIP_TIME 110 // minimum time [ms] period of chipping | ||
| #define MAX_CHIP_TIME 110 // maximum time [ms] period of chipping |
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Maybe have this in a different PR?
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Has this been reverted?
| stateLocalRef[vel_w] += PID(velwErr, &stateLocalK[vel_w]); | ||
| stateLocalRef[vel_u] = PID(veluErr, &stateLocalK[vel_u]); | ||
| stateLocalRef[vel_v] = PID(velvErr, &stateLocalK[vel_v]); | ||
| stateLocalRef[vel_w] = PID(velwErr, &stateLocalK[vel_w]); | ||
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This changes the control from a feedforward to pure PID control. Might make it less stable. Make sure to test with AI if you want to go this way.
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Yes you're right. In the end pure PID is not desirable.
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Has this been tested / reverted?
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This PR will first have to be cleaned up as @emielsteerneman and @skaeringur97 suggest. |
We initially had the idea that a robot would need different PID values for high and low speeds (which is still the case but has gotten a bit out of scope of this PR right now).
The PID values have been re-tuned such that each robot can drive on high and low velocities and actually achieves them!
The robot only drives now on error whereas previously it would add the result from the PID controller to the instruction, it no longer needs this in order to operate, which is a good thing.
However as said before, the PID values for higher velocities should be made a bit more agressive, such that the robots achieve their speeds a bit faster.
This code has been tested on the field during RC2023, by both @umer99roboteam and me.