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.