PID Loop

[davinbirdi]

PID Loop about Duty Cycle, with duty cycle offset

Setup to Validate: Version 1:

Potentiometer to imitate varying pressure Duty cycle of Valve PWM based on pressure What We want Version 2:

PID Control of the duty cycle rather than direct control

[davinbirdi]

Version 1 is setup using duty cycle as a function of potentiometer voltage

[davinbirdi]

Issue: Stuttering duty cycle when running both the Actuator Task and the Control Task. we can see it get worse when their periods get closer.

[davinbirdi]

Make sure I don't go outside of duty cycle bounds:

• Current Setup: Bounded in the control loop rather than the PWM Task so I can monitor when it wants to go out of bounds.