-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.