<slide_break></slide_break> ### PID Control * PID is a well known technique for smoothing out control, to avoid oscillation. PID stands for * Applying PID control to your algorithm will make it more robust and perform more consistently. When used with a wall follower it will help better follow the wall without too much fluctuation. * It will make the robot turn at a higher speed when you are too away from the designated route (too far or too close to the wall), and turn at a slower speed when you are close to it. <slide_break></slide_break> ### Example Code <img src="/content/topics/images/pid_code.jpg" class="img-thumbnail d-block mx-auto" style="height:400px;"/> <slide_break></slide_break> ### Graph <img src="/content/topics/images/pa2pidgraph.jpg" class="img-thumbnail d-block mx-auto" style="height:300px;"/> <slide_break></slide_break> ### Nice video <iframe width="560" height="315" src="https://www.youtube.com/embed/4Y7zG48uHRo" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> Here are some great links. You will be amazed at how well this works. <slide_break></slide_break> ### Some nice links * [PID Algorithm Video](https://youtu.be/dynSWBXu9aA?si=tMNR20sp_DHcmw_c) * [MIT Pid Video](https://www.youtube.com/watch?v=4Y7zG48uHRo) * [ROS PID Package ](http://wiki.ros.org/pid) * [Learn PID](https://en.wikipedia.org/wiki/PID_controller) * [The PID Tuning Guide](/content/topics/documents/pidtuningguide.pdf) * [PID without a PhD](/content/topics/documents/pidwithoutaphd.pdf)