Fred,

I am looking for a PI controller like the one outlined in "Mobile Robots, Inspiration to Implementation". I do have your book Fred and what I am looking for is not a PD controller. I want to slave both motors together instead of running them independently, as I understand what you have put together in your book.

The trouble with the one in the book mentioned, is there is a stand alone function that doesn't reference any other function.

Also, the aforementioned controller software is using single channel encoders, not quad encoders.

Steve

--- In handyboard@yahoogroups.com, "fgmartin" <fredm@...> wrote:
>
> Steve,
>
> I have a whole chapter about proportional-derivative control in my book, "Robotic Explorations" -- http://www.amazon.com/dp/0130895687?tag=gleasresea-20&camp=14573&creative=327641&linkCode=as1&creativeASIN=0130895687&adid=1W81FS56B7K6NCZBM1PD&&ref-refURL=http%3A%2F%2Fgleasonresearch.com%2F
>
> Cheers,
> Fred
>

> --- In handyboard@yahoogroups.com, "stevenelaw" <stevenelaw@> wrote:
> >
> > This message is directed toward Fred Martin, because he was mentioned as a resource in "Mobile Robots, from Inspiration to Implementation". Specifically for the Proportional Integral Controller Scheme in this book. I also have Fred Martin's Robotic Explorations. I am having great difficulty in finding answers.
> >
> > I am trying to use the P-I controller algorithm in the book mentioned above, 'Mobile "Robots...' but I have found quit a few errors in the coding they used in this book, (missing code or code that is not referenced by other code, but needs to be.)
> >
> > I really want to use the algorithm in the Mobile Robots book, but the one they used in there doesn't use quadrature encoders, just single channel encoders, and as such I am having a very difficult time implementing the code for my project.
> >
> > While I am waiting for my answer, I will keep trying to find answers.
> > Thanks, Steve Law
> >
>




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