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.