Motor Control Methods
Lecture on PID and Bang-bang
Go to this link for example code.
Bang-Bang control is a binary-central system for regulating motor speed. It uses an if-else loop that checks whether the motor speed is above or below the target speed. If it is higher, it will cut power to the motor and will send power if the current speed is under the target. It is doing this quickly, so it constantly attempts to reach the target speed, and it gets continually more accurate. Shown below is a photograph from a lecture that shows the oscillation of motor in an oven's heater as the program attempts to adjust to the new target heat.
- Paper by Christopher Samuel Harper
- Chief Delphi
- A brief introduction to Take-Back-Half algorithm with temperature control system.
- A java implementation of Take-Back-Half algorithm for FRC by team 751 here.