Control

The error, and what to do with it: bang-bang, proportional control, gain, dead bands, and running two controllers at once on a robot that curves and leaks.

Module 3Robot club6 lessons

Start in the simulator
  1. 3.1 What a controller is The error and its sign, wrapping headings, bang-bang control, overshoot.
  2. 3.2 Proportional control Correct in proportion to the error. Gain, sign, feedback.
  3. 3.3 Tuning the gain Sluggish, good, oscillating. Loop speed and driving speed.
  4. 3.4 Controlling speed Speed from the remaining distance, the dead band, clamping.
  5. 3.5 Two loops at once Heading and sideways controllers together on a holonomic robot.
  6. 3.6 Project: precision parking Round a box and into a bay facing east, on the worst robot in the course.