The Problem The search for “perfect” acceleration is trying to find a balance of getting to the desired speed quickly while also avoiding tipping, wheel slippage, or excessive strain on the motor. ...

In a traditional PID loop, the I or integral term is mostly used to maintain the state of the system. When creating a PID loop that exits, such as for moving forwards or turning to a heading, we do...

Basic Motion Profiling A smoother, open-loop alternative to PID for linear movement is motion profiling. The benefit to using motion profiles over just PID is an easy way to control acceleration. M...

To begin with, the Boomerang Controller is not a control algorithm on its own. To call it that assumes that the Boomerang Controller can get to the targets on its own. Boomerang Controller is an o...

Bang Bang Controllers A Bang Bang Controller is a type of controller that decreases the amount of time it takes to reach the target speed by running motors at maximum power until they reach a cert...

PID How do you control motors quickly and efficiently? PID is a method of controlling motors using sensor data. While it’s often viewed as a complicated process, the code behind it can be relativ...

Odometry How does a robot know where it is? Odometry is a method of tracking the absolute position of a robot on a field using sensor data. While it’s often viewed as a complicated process, the c...