Subject:
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Re: YAL, Yet Another LegWay
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 9 Feb 2004 20:55:11 GMT
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Viewed:
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2658 times
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In lugnet.robotics, Philippe Hurbain wrote:
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YAL: Yet Another LegWay
Here are some details of my implementation, using two regular light sensor to
monitor YAL inclination.
The code is a simple PID algorithm
implemented in BrickOS, direct translation of
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Hey Philo,
I was just looking over your code, and I think if you change this line:
pid = (Kd * errdiff + Kp * err + Ki * errint) /3000l;
to something like this:
pid = (Kd * errdiff + Kp * err + Ki * errint) /3000l + ForwardOffset;
then when you change ForwardOffset (via remote control code) the robot will
start to go forward (or backward, if it’s negative).
The ForwardOffset could be between -255 and 255 (I’m sure you don’t want it
quite that big)
Steve
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Message has 1 Reply:
 | | Re[2]: YAL, Yet Another LegWay
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| Hello Steve, Monday, February 9, 2004, 8:55:11 PM, you wrote: (...) SH> Hey Philo, SH> I was just looking over your code, and I think if you change this line: SH> pid = (Kd * err_diff + Kp * err + Ki * err_int) /3000l; SH> to something like this: (...) (20 years ago, 9-Feb-04, to lugnet.robotics)
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