[SOLVED] PID controller in set_motor_dps?

[karlelch]

Hi,
I assume set_motor_dps uses a PID controller? If so, are the values set via set_motor_position_kp/kd affect it as well?
Thanks
Karl

[Matt]

Hi Karl

Yes, that is correct. Actually, it’s a PD controller. If you set kp higher, the motor will be more responsive to errors in position, at the cost of perhaps overshooting and oscillating. kd slows down the motor as it approaches the target, and helps to prevent overshoot. In general, if you increase kp, you should also increase kd to keep the motor from overshooting and oscillating. As it is, both are already set to work well for most applications with NXT or EV3 motors, so you probably won’t need to adjust either one.

Matt

[karlelch]

Thanks for the quick reply.