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What is the “2 line” programs current (original) value “Large” Positive Error? _ What is the “2 line” programs current (original) value of the Set-Point? _
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Examine the program on the PC and record the values you see. The program “02 line” calculates the above first by subtracting the set point from the Light Measurement, and then making the comparisons as noted above. This is also known as a Deadband and it means that the robot will turn left or right depending on the error, but if the error is small, the robot will just go straight.
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This software file programs the robot to follow the line using On-Off control with a Differential Gap.
Now Examine the Software File “02 line” as described in the graphic and as contained in the attached file. In our case, we will use the 02 line program to add a dead-zone, during which the robot will simply drive straight. If the dead-zone gets too wide, the house may become uncomfortable. Most thermostats are made with a built in "dead-zone." For example, if your set-point is 70 degrees Fahrenheit, the thermostat might not turn on the AC until it reached 72 degrees, nor would it turn on the heat until the temperature went down to 68 degrees. If the AC and the Heat in your home kept turning on and off all day, it could definitely destroy your HVAC system (or at least shorten its life).
Time to go entirely around the track once (BAD Set-Point): _ Time to go entirely around the track once (GOOD Set-Point): _ī. You will be seeing how long the robot takes to go around the track in a clockwise direction, once with the GOOD set-point, and once with the BAD set-point.ħ Complete time trials with GOOD and BAD set-point valuesĪ.
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Now connect the robot to the PC using the USB cord, make sure the robot is turned on, and download the new version of the “1 line” program to the robot. You recorded values in parts b and c, numbers for the minimum and maximum values the robot would see when running the track.ĥ Calculate a GOOD set-point value (the average of the min and max): _Ħ Choose a BAD set-pint value (a number very close to the min or the max): _Ĭhange the set-point to one of these values by using the arrow icon to click on the error calculation box, and changing the number that is being subtracted (see image below).
You discovered some real-world values of the light meter in step 2 above. Time to go entirely around the track once: _Ĭhange the Set-point and compare results. Time to complete one curve of the track: _ĭ. Describe straight track robot motion: _Ĭ. Time to complete one straight side of the track: _ī. Try to keep away from other robots already on the track so that you can time your robot without interruption of bumping into other robots.Ī. You will notice that your robot may already be loaded with a number of programs (or you can use the attached "01 line.rbt" file embedded here) stored on it with names like “1 line” and “2 line” and there also may be an additional letter after the number of the program, such as “3b line.” You will need to execute the program with the number “1” in its name and then place the robot on the tape track, with the senor on the black line. In our case, the robot will turn Left or Right, depending on whether the Set-Point of the light sensor has a positive or negative error (too much on the white floor, or too much on the black tape).
When set to a chosen temperature, the thermostat will heat the house if it's too cold, and cool the house if its too hot.The chosen temperature is called the "Set Point" and the difference between the current house temperature and the Set-Point is called the "Error." So you could say, if the Error is Positive, turn on the AC otherwise turn on the heat. It is similar to the thermostat control in your home. Reza Jafari, who provided PID Control learning objectives mapping ideas towards the EET220 and Capstone coursework.Īn "On-Off" (sometimes called "Bang-Bang") controller has only two options, on and off. Bruce Linnell, who created some early Lego labs at the ECPI University level, and Dr.
#Robotc pid control how to#
This step by step Instructable shows how to successfully teach a room full of students using the Lego robot system, a number of robots (5 to 10 of them), an equal number of computer workstations running NXT 2.0, and a seven foot track of black electrical tape on the floor.ĪSIDE: Thanks go to J. Nevertheless, these can be difficult to follow, and might not be suitable for a classroom of 20 or so students. There are wonderful resources available online which simplify the construction of a "Proportional Integral Differential Controller" (PID Controller), and one great description is here: Many young robot enthusiasts are interested in more advanced control topics, but may be stymied by the calculus often required to analyze closed loop systems.
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