New answers tagged pid
0
You're defining
def pid_controller (kp,ki,kd,dt,error)
... the error is your e. The alternative would be to define
def pid_controller (kp,ki,kd,dt,theta_reference,theta_feedback)
and have
error = theta_reference - theta_feedback
e = error
1
Let me preface this by saying I've never done quadcopter controls before.
With a vehicle, the gas pedal doesn't control speed or position, it controls torque. For a quadcopter, the equivalent would be the horizontal forces. The roll/pitch angles would be an input to the horizontal force, but thrust is also an input and the relationship is nonlinear: $F_{...
1
If I'm interpreting your description correctly (the two sensors are measuring the distance to the wall in a direction roughly perpendicular to the direction of travel and the two sensors are displaced so that one is more "forward" in the direction of travel) , you need to change the angle of the robot relative to the wall in order to change the ...
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