Learn Robotics Programming

Tuning the PID controller settings

I start with a proportional constant of 0.1, and raise it, using Nano to make quick edits on the PI, until the robot starts to overshoot—that is, it goes past its target, then returns far back—then I halve this proportional constant value.

It may then have a constant error, so I then start raising the integral constant by about 0.01 until that is smoothed. It is a slow process: start by getting the object close to dead center and by tuning speed_pid until it's pretty good, then come back for direction_pid.

Do not try to tweak all the values at once—rather, change one thing and retry.

For a deeper look at this, see Tuning A PID Controller in the Further Reading section.