CanHaptics Lab 4: Controlled actuation using PID

1. Run the code and try out the P controller.

p = 0.05
p = 0.01 & p = 0.02

2. Add the D component to your controller.

P = 0.04, D=0.99
P = 0.04, D=1.17

3. Add the I component to your controller.

P = 0.01, I = 0.02, D = 0.99

4. Implement path tracking

Code for moving in circular path
P = 0.06, I = 0.02, D = 0.99

5. Play with the controller update rates, and with introducing delays.

Unstable system with > 500 looptime value





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