projekte:projekte:sekwai
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| projekte:projekte:sekwai [2025/06/12 07:08] – dominik | projekte:projekte:sekwai [2025/06/12 13:17] (current) – [Probleme] dominik | ||
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| * Looptime falsch berechnet (es war nicht der ganze Code der Loop in der Zeitberechnung) | * Looptime falsch berechnet (es war nicht der ganze Code der Loop in der Zeitberechnung) | ||
| * sleep_ms anstelle von sleep_us -> ungenaue Verzögerung der Looptime ! | * sleep_ms anstelle von sleep_us -> ungenaue Verzögerung der Looptime ! | ||
| + | |||
| + | **Tuning** | ||
| + | The final Step is to Tune the PID loop Kp, Ki & Kd parameters. | ||
| + | |||
| + | A good starting point is to slowly increase Kp until the robot oscillates around the balance point and can catch a fall. | ||
| + | Next, start Kd at around 1% the value of Kp and increase slowly until the oscillations disappear and the robot glides smoothly when pushed. | ||
| + | Finally, start with Ki around 20% of Kp and vary until the robot " | ||
| ===== Links ===== | ===== Links ===== | ||
projekte/projekte/sekwai.txt · Last modified: by dominik