- The car is simulated by using the following equations:
- x(t) = v*t + 0.5*a*t^2
- v(t) = a*t
- The PID code is based in the Arduino PID Library by Brett Beauregard.
Lessons learnt:There are 2 types of processes.
- Processes that keep their last state (like in the level 1, a car on a flat road). These are called integrating processes, they don't need a Ki and the PID won't overshoot
- Processes that feel an external force (car on a slope, something cooling down). These are called self regulating processes, they do need a Ki and they will overshoot when the external force changes