{"id":598,"date":"2016-02-18T15:05:05","date_gmt":"2016-02-18T14:05:05","guid":{"rendered":"http:\/\/www.macerobotics.com\/?p=598"},"modified":"2016-02-25T19:03:38","modified_gmt":"2016-02-25T18:03:38","slug":"pid-control","status":"publish","type":"post","link":"http:\/\/www.macerobotics.com\/?p=598","title":{"rendered":"PID control"},"content":{"rendered":"<p style=\"text-align: justify;\">In this video MRPi1 robot is controled by two PID controller. The PID controller calculates an error values between motors encoders and desired value (orientation and distance).<\/p>\n<ul>\n<li style=\"text-align: justify;\">Orientation control<\/li>\n<li style=\"text-align: justify;\">Distance control<\/li>\n<\/ul>\n<p style=\"text-align: justify;\">The speed profile :<\/p>\n<ul style=\"text-align: justify;\">\n<li>Trapezoid profile with 3 parts : acceleration, constant speed and deceleration.<\/li>\n<\/ul>\n<p style=\"text-align: justify;\">Encoders specification :<\/p>\n<ul>\n<li style=\"text-align: justify;\">Magnetic encoder,<\/li>\n<li style=\"text-align: justify;\">Resolution : 12 ticks\/tr<\/li>\n<\/ul>\n<p><iframe loading=\"lazy\" src=\"https:\/\/player.vimeo.com\/video\/155820904\" width=\"500\" height=\"281\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p><a href=\"https:\/\/vimeo.com\/155820904\">Raspberry Pi robot &#8211; MRPi1<\/a> from <a href=\"https:\/\/vimeo.com\/user47187872\">macerobotics<\/a> on <a href=\"https:\/\/vimeo.com\">Vimeo<\/a>.<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>In this video MRPi1 robot is controled by two PID controller. The PID controller calculates an error values between motors encoders and desired value (orientation and distance). Orientation control Distance control The speed profile : Trapezoid profile with 3 parts : acceleration, constant speed and deceleration. Encoders specification : Magnetic encoder, Resolution : 12 ticks\/tr &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[10,18,9,7,17,19],"class_list":["post-598","post","type-post","status-publish","format-standard","hentry","category-mrpi1","tag-mobile-robot","tag-mobile-robot-applications","tag-raspberry-pi","tag-robot","tag-robot-raspberry","tag-robot-raspberry-tuto"],"_links":{"self":[{"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/598","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=598"}],"version-history":[{"count":13,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/598\/revisions"}],"predecessor-version":[{"id":613,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/598\/revisions\/613"}],"wp:attachment":[{"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=598"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=598"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=598"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}