This page shows all the robotics tutorials listed without specific grouping. Each tutorial is short, on specific topic, has a video. Tutorials are structured in sequence in Courses.
We should multiply the error by a certain number and then add it to the steering of the LEGO Mindstorms Steering block. In this way, by changing the coefficient we change how much/fast should the proportional part influence the steering of the robot.
After we take each sample, we perform calculations and these calculations could take different time. It is important to know how much time does it take to perform the calculations. In this video tutorial, we would data log the time and plot the data.
In this video tutorial, we would do a few experiments with the coefficients for the Integral compensation. There are actually two coefficients - "c" and "b"
If you've done the calculation following the previous tutorials you would arrive at a result of 18.75 rotations. But this is not the correct answer. The calculation is wrong, because the math model that we've built, although kind of obvious, is not correct. When experimenting the correct number of rotations would be 37.5. This is a large difference. Two times larger. Exactly two times large. Something should be happening here - and this thing is "planetary mechanism"
Sometimes the answer that you get by calculating seems not to be right. Is it the calculation that is wrong. Probably it is not the calculation, but something is happening with the robot.