I am building a robot rover comprised of dual DC motors each with hall sensors to obtain rotaional speed. I currently have a PID controller for each DC motor that is able to control the speed of the rover.. ie. I can provide a setpoint and the rover will move forward at a steady speed.
The next step is that I want to tel the Robot to move forward a certain distance. I'm thinking the approach here is to use a outer PID loop running at a much lower rate, taking a cumulative measuerment from the hall sensor to determin the distance traveled from the start point. The output would feed the inner PID loop for the motors.
Is this the right approach ?
My concern is that i've used the input from the hall sensors in two place, is one of these redundant for example ?