Proportional Integral Derivative Controller. A type of control algorithm used in many control situations, especially servo systems.

Questions about using an existing PID implementation connected to a device.

Possible topics include:

  • "loop tuning" -- ways of tuning and tweaking the Kp, Kd, Ki "constants", and the horrible things that go wrong when they aren't tuned right
  • how to deal with the fact that a PID for the elbow motor tuned perfectly when the shoulder is "down" isn't so perfect when the shoulder is "horizontal" or "up", or when the hand is empty vs. when the hand is holding a bowling ball, and ways to compensate.

Questions about implementing a PID controller itself are best asked on Electrical Engineering Stack Exchange.

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