/control-system-demos

Series of demos/lessons for Mililani High School FRC team

Primary LanguageJulia

Control Systems Demos

Setup

Python

  1. Install Python
  2. From the command line, install dependencies via 
    pip install -r requirements.txt
    (You'll need to do this from the root directory of this repo.)
  3. You can run each example from the command line, e.g. 
    python pid/pendulum.py

Julia

  1. Install Julia using JuliaUp

  2. Enter the Julia REPL and enter the following commands:

    import Pkg; Pkg.add(["Plots", "Pluto", "PlutoUI"])
using Pluto
Pluto.run()

  3. A browser window will open for Pluto. You can select each notebook (which end in .jl to open and see the lesson/demo).

    (Upon loading a notebook initially, it may take a few minutes for the dependencies to install and the code to be compiled and run.)

Answers

Working PID constants

Spoilers! Open for answers

As discussed, these are not the only possible options.

Pendulum:

  • P: 50
  • I: 0
  • D: -0.75

Car:

  • P: 4
  • I: 0.01
  • D: -0.5

Cartpole:

  • P: 10
  • D: -1