Problem: When the robot runs test autonomous routines for tuning PID constants, it will sometimes oscillate, indicating that the derivative ("D") constant has to be increased. Once the oscillation is sufficiently negligible, the proportion ("P") constant has to be increased by 1. However, visually detecting such oscillations is problematic
Significance: The Inertial Motion Sensor is much more reliable at monitoring angular/linear heading, and, better yet, a set "delta" value can be initialized (either through extensive research, or by researching online), and all oscillations can be checked against this delta to see if it is sufficiently large enough to count as an oscillation.
Solution:
Problem: When the robot runs test autonomous routines for tuning PID constants, it will sometimes oscillate, indicating that the derivative ("D") constant has to be increased. Once the oscillation is sufficiently negligible, the proportion ("P") constant has to be increased by 1. However, visually detecting such oscillations is problematic Significance: The Inertial Motion Sensor is much more reliable at monitoring angular/linear heading, and, better yet, a set "delta" value can be initialized (either through extensive research, or by researching online), and all oscillations can be checked against this delta to see if it is sufficiently large enough to count as an oscillation. Solution: