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**Topic under **Control Mode

**Source:** team358.org

**File size:** **38.64 KB**

**File type:** **pdf**

**Last download on:**
Mon Dec 18, 2017 08:23:33 PM

__Short Desciption__:

Matt Krass
Email: mattkrass@gmail.com
Last updated: April 10th, 2006
Team 358
http://www.team358.org/
One of the more difficult programming problems to solve in FIRST robotics is accurate control of systems.

__Summary__:

One of the more difficult programming problems to solve in FIRST robotics is accurate control of systems. For example in the 2006 Game (“Aim High”) robots used a low-resolution digital camera with a serial output to track a green light. A series of globally accessible variables allowed the robot program to access the results of that tracking while processing. Now here’s where control theory comes in, in order to target the goal with a shooter mechanism we need some way to get it there. Many people recommend PID and this paper goes over the basic math and principles behind using it. It’s meant to be a general overview to help you to develop your own PID control programming. PID is made up of three main components:

from your target.
P – Proportional control. The output varies based on how far you are from your target.

I – Integral control. The output varies based on how long it’s taking you to get to your target.

D – Derivative control. The output varies based on the change in the error. Greater change is greater response, good for dampening spikes and jumps.

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