Lecture 4 - Laplace Domain Dynamics & PID

Overview:

We command the

pid control on vesc, converts rpm requirement to current output for the motor, uses pid to get right current, we give rpm

1. vesc tuning

2. wall following (error is distance to wall, left wall right wall wahteves, we control steering angle) - lec

Topics Covered:

• Laplace Domain Dynamics

• PID Control

• testing

Associated Assignment:

• Lab 3: Wall Following

Slides:

Links to additional resources:

• Ziegler-Nichols method of tuning a PID controller