Derivative Kick #99
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Fixing this removes a (probably only used by me) strange behavior where you can set To keep this functionality, a new function was added to PID called |
ssejrog
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ssejrog
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* New action for deploying website * ⬆️ PROS 4 Porting work (#100) * New action for deploying website (#98) * PROS 4 Porting work * Revert gitignore * Added imu loading animation --------- Co-authored-by: Jess Zarchi <[email protected]> * 🐛Fixed unit conversion for exit conditions * 🐛Fixed derivative kick #99 (#105) * ✨Added imu scaling #104 (#106) * ✨Imu velocity exiting #102 * PID class has secondary sensor velocity support, implemented that with imu accel into exit conditions * Made names more clear, added missing functions * 🐛Max text width is wider #112 (#113) * 🐛Exit condition print error #111 (#114) * ✨Motion chaining #109 (#115) * Motion chaining and quick exits are functional #109 * Added reverse constants, okapi units, finalized function names and comments * 🐛Fixed scaling in drive pid #110 (#116) * Upgraded example project, cleaned formatting everywhere Main project builds fine, the example project is giving me strange errors about the LCD. Not sure how to fix this * Timers now correctly reset between motions #117 * Added liblvgl to example project, updated template * Changing max speed works, new (old) default constants, new constructor #118 #119 #120 * Fixed typo in example project * Cleaned up example project * Main project updated to example, fixed #122 and #123 * Final 3.1.0 push. Template and example project finalized --------- Co-authored-by: Will Xu <[email protected]>
ssejrog
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Jun 10, 2024
* New action for deploying website (#98) * ⬆️3.1.0 (#124) * New action for deploying website * ⬆️ PROS 4 Porting work (#100) * New action for deploying website (#98) * PROS 4 Porting work * Revert gitignore * Added imu loading animation --------- Co-authored-by: Jess Zarchi <[email protected]> * 🐛Fixed unit conversion for exit conditions * 🐛Fixed derivative kick #99 (#105) * ✨Added imu scaling #104 (#106) * ✨Imu velocity exiting #102 * PID class has secondary sensor velocity support, implemented that with imu accel into exit conditions * Made names more clear, added missing functions * 🐛Max text width is wider #112 (#113) * 🐛Exit condition print error #111 (#114) * ✨Motion chaining #109 (#115) * Motion chaining and quick exits are functional #109 * Added reverse constants, okapi units, finalized function names and comments * 🐛Fixed scaling in drive pid #110 (#116) * Upgraded example project, cleaned formatting everywhere Main project builds fine, the example project is giving me strange errors about the LCD. Not sure how to fix this * Timers now correctly reset between motions #117 * Added liblvgl to example project, updated template * Changing max speed works, new (old) default constants, new constructor #118 #119 #120 * Fixed typo in example project * Cleaned up example project * Main project updated to example, fixed #122 and #123 * Final 3.1.0 push. Template and example project finalized --------- Co-authored-by: Will Xu <[email protected]> * Hotfix broken link --------- Co-authored-by: Will Xu <[email protected]>
ssejrog
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Jun 10, 2024
* Upgraded example project, cleaned formatting everywhere Main project builds fine, the example project is giving me strange errors about the LCD. Not sure how to fix this * Timers now correctly reset between motions #117 * Added liblvgl to example project, updated template * Changing max speed works, new (old) default constants, new constructor #118 #119 #120 * Fixed typo in example project * Cleaned up example project * Main project updated to example, fixed #122 and #123 * Final 3.1.0 push. Template and example project finalized * Bring final 3.1.0 over to dev (#125) * New action for deploying website (#98) * ⬆️3.1.0 (#124) * New action for deploying website * ⬆️ PROS 4 Porting work (#100) * New action for deploying website (#98) * PROS 4 Porting work * Revert gitignore * Added imu loading animation --------- Co-authored-by: Jess Zarchi <[email protected]> * 🐛Fixed unit conversion for exit conditions * 🐛Fixed derivative kick #99 (#105) * ✨Added imu scaling #104 (#106) * ✨Imu velocity exiting #102 * PID class has secondary sensor velocity support, implemented that with imu accel into exit conditions * Made names more clear, added missing functions * 🐛Max text width is wider #112 (#113) * 🐛Exit condition print error #111 (#114) * ✨Motion chaining #109 (#115) * Motion chaining and quick exits are functional #109 * Added reverse constants, okapi units, finalized function names and comments * 🐛Fixed scaling in drive pid #110 (#116) * Upgraded example project, cleaned formatting everywhere Main project builds fine, the example project is giving me strange errors about the LCD. Not sure how to fix this * Timers now correctly reset between motions #117 * Added liblvgl to example project, updated template * Changing max speed works, new (old) default constants, new constructor #118 #119 #120 * Fixed typo in example project * Cleaned up example project * Main project updated to example, fixed #122 and #123 * Final 3.1.0 push. Template and example project finalized --------- Co-authored-by: Will Xu <[email protected]> * Hotfix broken link --------- Co-authored-by: Will Xu <[email protected]> --------- Co-authored-by: Will Xu <[email protected]>
ssejrog
added a commit
that referenced
this issue
Jun 10, 2024
* New action for deploying website (#98) * Upgraded example project, cleaned formatting everywhere Main project builds fine, the example project is giving me strange errors about the LCD. Not sure how to fix this * Timers now correctly reset between motions #117 * Added liblvgl to example project, updated template * Changing max speed works, new (old) default constants, new constructor #118 #119 #120 * Fixed typo in example project * Cleaned up example project * Main project updated to example, fixed #122 and #123 * Final 3.1.0 push. Template and example project finalized * ⬆️3.1.0 (#124) * New action for deploying website * ⬆️ PROS 4 Porting work (#100) * New action for deploying website (#98) * PROS 4 Porting work * Revert gitignore * Added imu loading animation --------- Co-authored-by: Jess Zarchi <[email protected]> * 🐛Fixed unit conversion for exit conditions * 🐛Fixed derivative kick #99 (#105) * ✨Added imu scaling #104 (#106) * ✨Imu velocity exiting #102 * PID class has secondary sensor velocity support, implemented that with imu accel into exit conditions * Made names more clear, added missing functions * 🐛Max text width is wider #112 (#113) * 🐛Exit condition print error #111 (#114) * ✨Motion chaining #109 (#115) * Motion chaining and quick exits are functional #109 * Added reverse constants, okapi units, finalized function names and comments * 🐛Fixed scaling in drive pid #110 (#116) * Upgraded example project, cleaned formatting everywhere Main project builds fine, the example project is giving me strange errors about the LCD. Not sure how to fix this * Timers now correctly reset between motions #117 * Added liblvgl to example project, updated template * Changing max speed works, new (old) default constants, new constructor #118 #119 #120 * Fixed typo in example project * Cleaned up example project * Main project updated to example, fixed #122 and #123 * Final 3.1.0 push. Template and example project finalized --------- Co-authored-by: Will Xu <[email protected]> * Hotfix broken link --------- Co-authored-by: Will Xu <[email protected]>
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Expected Behavior
PID targets can be changed and the robot will switch to following the new target.
Actual Behavior
The robot follows a new target, but 1 iteration after the target has changed there is derivative kick.
This can be solved by getting the derivative of the input sensor value instead of error.
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