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Public waffleboard to track Robotics Nanodegree Issues
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Intro to controls, lesson 18 #106

Closed sychaichangkun closed 7 years ago

sychaichangkun commented 7 years ago

the solution to the exercise calculate d via d = self.kd_ * (self.alpha * delta_error / delta_time + (1 - self.alpha)). It seems incorrect. In lesson 18, it's told D[k] = alpha delta_error/delta_t + (1-alpha)D[k-1]. I think it should be d = self.kd * self.alpha * delta_error / delta_time + (1 - self.alpha) * d_last

sychaichangkun commented 7 years ago

Sorry, I mean lesson 22, the solution seems incorrect

thomas-at-em commented 7 years ago

Yes, you are correct! Thanks for reporting that.