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For a similar problem (TT motors can't start the bot rolling on a carpet) I have been toying with the idea of setting up PID control for the angular velocity. If it stays stuck, the integral term will start upping the power. Once it suddenly breaks loose, the differential term will throttle it back. That's the idea, anyway -- someday I'll actually try it. ...


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A PID controller takes an error as input (the encoder ticks) and yields an output whose unit of measurement $O$ (the PWM percentage, usually) is uncorrelated with the unit of measurement $I$ of the input. To this end, the PID gains $K_P$, $K_I$, and $K_D$ do have units of measurement: $[K_P] = \frac{O}{I}$ $[K_I] = \frac{O}{I \cdot s}$ $[K_D] = \frac{O \...


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