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pid tuning for low cg bot -- need help
09-28-2016, 02:12 PM
Post: #11
RE: pid tuning for low cg bot -- need help
JohnQ. As you can tell from the video when I place more weight on top the oscillation only gets worse. And I move the battery and change the weight distribution quite a bit for testing purposes the oscillation remains and only gets worse the more weight goes to the top.

Unfortunately I think there is something inherently wrong with the electronics in the kit as it should not do this. I have tried going back to the stock settings and stock code and no P value devalue or I value makes any changes in the oscillation. Those changes only seem to affect the agility of the bot while moving. None seem to change this characteristic at rest.
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09-28-2016, 07:35 PM
Post: #12
RE: pid tuning for low cg bot -- need help
the video is with all default pid... I reloaded the default software. As you can see the wobble gets much worse with the addition of weight to the top of the bot. I just don't see this behavior with other videos os the stock bot.
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09-29-2016, 04:32 AM
Post: #13
RE: pid tuning for low cg bot -- need help
power67
Hi!
"Playing" with the PID parameters will not work with a significant departure from the mass balance of the robot.
Correct balancing specifies that "cog":
Code:
int16_t angular_velocity = (angle_adjusted-angle_adjusted_Old)*90.0;
Good luck!
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