PID

3 elements

-Proportional Controller-outputs based on the magnitude of the error

-Integral-outputs based on the magnitude AND duration of the error

-Derivative Controller – outputs based on the rate of change and the error

Simplified form = Kp*error + Ki*integrated error+Kd*Derivative of the error of function

Tuning a PID Loop

For the first half of the class, we worked on understanding a square bot and learning to program it.