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PID control

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

Raspberry Pi robot – MRPi1 from macerobotics on Vimeo.