https://wiki.bespokerobotsociety.org/index.php?action=history&feed=atom&title=Behavior%3APID_ControlBehavior:PID Control - Revision history2026-04-25T10:13:33ZRevision history for this page on the wikiMediaWiki 1.43.5https://wiki.bespokerobotsociety.org/index.php?title=Behavior:PID_Control&diff=49&oldid=prevJohn: Claude edited based on my notes, prompt, and SimpleBot code repository2025-10-11T16:48:13Z<p>Claude edited based on my notes, prompt, and SimpleBot code repository</p>
<p><b>New page</b></p><div>{{Behavior<br />
| name = PID Control<br />
| requires = Any sensing capability that provides error measurement<br />
| enables = [[Activity:Line Following]] (smooth), precise position control, speed control<br />
| difficulty = Intermediate<br />
| status = '''Stub''' - Algorithm not yet implemented<br />
}}<br />
<br />
'''PID Control''' is a behavior (algorithm) that uses proportional, integral, and derivative terms to minimize error in control systems.<br />
<br />
== Overview ==<br />
<br />
'''This is a stub page.''' This behavior is not yet implemented in any BRS robot. This page exists to:<br />
* Document the algorithmic concept<br />
* Invite community members to implement it<br />
* Provide a starting point for algorithm design<br />
<br />
== Required Capabilities ==<br />
<br />
This behavior requires:<br />
<br />
* [[Capability:Line Sensing]]<br />
* [[Capability:Optical Odometry]]<br />
<br />
== Enables Activities ==<br />
<br />
Implementing this behavior enables:<br />
<br />
* [[Activity:Line Following]]<br />
<br />
== Algorithm Outline ==<br />
<br />
PID control is a feedback loop that continuously calculates an error value and applies a correction:<br />
<br />
* **P (Proportional)**: Correction proportional to current error<br />
* **I (Integral)**: Correction based on accumulated past errors<br />
* **D (Derivative)**: Correction based on rate of error change<br />
<br />
The output is: <code>output = Kp × error + Ki × ∫error·dt + Kd × d(error)/dt</code><br />
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== Pseudocode ==<br />
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<pre><br />
# PID Controller<br />
error = setpoint - measured_value<br />
integral = integral + error * dt<br />
derivative = (error - previous_error) / dt<br />
<br />
output = Kp * error + Ki * integral + Kd * derivative<br />
<br />
previous_error = error<br />
apply_output(output)<br />
</pre><br />
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== Implementation Challenges ==<br />
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* **Tuning**: Finding optimal Kp, Ki, Kd values requires experimentation<br />
* **Integral windup**: Integral term can accumulate excessively<br />
* **Derivative noise**: Derivative is sensitive to sensor noise<br />
* **Sampling rate**: PID requires consistent timing for accurate integral/derivative<br />
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== Contributing ==<br />
<br />
Want to implement this behavior? Here's how:<br />
<br />
# Study the algorithm outline above<br />
# Implement in your language of choice (MicroPython, C++, Arduino)<br />
# Test on a robot with the required capabilities<br />
# Create an Implementation page (e.g., <code>[[YourRobot:PID Control Implementation]]</code>)<br />
# Update this page with algorithm refinements<br />
# Share working code on GitHub<br />
<br />
== See Also ==<br />
<br />
* [[Behaviors]] - All behaviors<br />
* [[Capabilities]] - Hardware required<br />
* [[Activities]] - What this enables<br />
* [[Robotics Ontology]] - How behaviors fit into BRS knowledge structure<br />
<br />
[[Category:Behavior]]<br />
[[Category:Intermediate Behavior]]<br />
[[Category:Stub]]</div>John