Learn Robotics Programming

Enhancing the PID controller

We are going to be using more PID controllers. We still don't require the differential component, but we will develop an issue with our integral component building up while the motors take time to move. The integral has a sum that starts to grow if there is a constant error. It is good to correct for that error, but can result in large overshoot. This overshoot, due to the integral still growing after the robot has started to react, albeit slowly, is called integral windup.

To reduce the overshoot from this sum, we can prevent this sum from getting too large by introducing a windup limit to our PID.

Open up the pidcontroller.py file and make the changes in bold in the following snippet. First, add the windup_limit ...