Improve trickler performance (speed, accuracy)

[erichiggins]

The speeds of the Open Trickler are currently hard-coded.

The trickler peripheral will need to be able to adapt to a few variables:

• Different trickler designs
• Different types of motors
• Distance from trickler to scale
• Scale refresh rate
• Different brands/types/shapes of powder
• Tilt of the trickler

While accounting for all of these variables, the Open Trickler should always throw the exact charge as quickly as possible without over-throwing.

One approach to resolving these issues would be to implement a PID controller.

There appears to be at least one relevant NodeJS module: https://github.com/philmod/node-pid-controller

[erichiggins]

PID controller references

• Build a PID Controller with Python 2019
• Probably the best simple PID tuning rules in the world (PDF)

[erichiggins]

This seems like a useful resource

https://pidtuner.com/

[erichiggins]

PID support seems to have mostly resolved this. Other improvements will be gradual. Closing for now.