PID servos

[alvinolima50]

Sending the signal to the servos has a very long delay.

• Questions raised:

• Are servos in series the only option, or can groups be placed in parallel?

• Use of communication between wireless ESP

[lucasolives]

Servos came with the following configuration of PID: P = 32 ; I = D = 0. The following video shows how it's graph looked like. Also, we used this tutorial to recalibrate PID parameters.

https://github.com/HumanoidPequi/HumanoidPMec_LARC2023/assets/108996886/953cd516-67c2-435e-adb5-11773d28ab13

[lucasolives]

Changing to P = 32; I = 10; D = 120 got the following results.

• Big angles and scale:

https://github.com/HumanoidPequi/HumanoidPMec_LARC2023/assets/108996886/b46bd61b-50d5-4786-bcbb-ded54ddad43d

• Small angles and scale:

https://github.com/HumanoidPequi/HumanoidPMec_LARC2023/assets/108996886/b00e0693-5c87-4487-8ff5-403d2d68c7ed

Analyzing these results, maybe the tunning was great to big angles, but not very good to small angles. The graph indicates that the problem might be related with low P and I, but high D. Next steps is to test with low D and try to work changing only P and D.

[lucasolives]

Changing to P = 40; I = 10; D = 1 got the following results.

• Angles around 20 degress:

https://github.com/HumanoidPequi/HumanoidPMec_LARC2023/assets/108996886/4bff1b92-7986-4c93-97b9-b2c2142a3a87