{"id":145,"date":"2008-02-28T04:09:12","date_gmt":"2008-02-28T08:09:12","guid":{"rendered":"http:\/\/www.etotheipiplusone.net\/?p=145"},"modified":"2008-02-28T04:12:19","modified_gmt":"2008-02-28T08:12:19","slug":"pid-controllers","status":"publish","type":"post","link":"https:\/\/www.etotheipiplusone.net\/?p=145","title":{"rendered":"PID controllers!"},"content":{"rendered":"<p>I just realized that some of the work we have been doing in <a href=\"http:\/\/courses.csail.mit.edu\/6.01\/\" target=\"_blank\">6.01<\/a> with <a href=\"http:\/\/en.wikipedia.org\/wiki\/Nondeterministic_finite_state_machine\" target=\"_blank\">state machines<\/a> is getting pretty close to forming parts of a <a href=\"http:\/\/en.wikipedia.org\/wiki\/PID_controller\" target=\"_blank\">PID controller<\/a>. I have been curious about those things, and have a grasp of how they work, but have yet to actually implement one to solidify said grasp. I suspect it might be coming up soon, since it is a very common control scheme.<\/p>\n<p>This would be pretty neat for experimentation, as the only autonomous bots I&#8217;ve built to date have used proportional control only with an enormous deadband to avoid oscillation, or some sort of 3\/8ths-ass fuzzy logic (not even half-ass).<\/p>\n<p>Bets on when I&#8217;ll send one of the lab robots through the wall?<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.activrobots.com\/ROBOTS\/smDX.jpg\" title=\"These fuckers will eat you alive.\" height=\"145\" width=\"283\" \/><\/p>\n","protected":false},"excerpt":{"rendered":"<p>I just realized that some of the work we have been doing in 6.01 with state machines is getting pretty close to forming parts of a PID controller. I have been curious about those things, and have a grasp of how they work, but have yet to actually implement one to solidify said grasp. I [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4,8,1],"tags":[],"class_list":["post-145","post","type-post","status-publish","format-standard","hentry","category-bots","category-mit-boston","category-stuff"],"_links":{"self":[{"href":"https:\/\/www.etotheipiplusone.net\/index.php?rest_route=\/wp\/v2\/posts\/145","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.etotheipiplusone.net\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.etotheipiplusone.net\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.etotheipiplusone.net\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.etotheipiplusone.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=145"}],"version-history":[{"count":0,"href":"https:\/\/www.etotheipiplusone.net\/index.php?rest_route=\/wp\/v2\/posts\/145\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.etotheipiplusone.net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=145"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.etotheipiplusone.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=145"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.etotheipiplusone.net\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=145"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}