The PID Controller – Part 4

Hi there,

In this last post about the PID Controller implementation, I present you the  MediumMotorPositionPID class; the  MediumMotorPositionPID inherits from the  PIDController class and adds the reference to the Ev3 Medium Motor to it. From the Lego website:

The EV3 Medium Servo Motor is great for lower-load, higher speed applications and when faster response times and a smaller profile are needed in the robot’s design. The motor uses tacho feedback for precise control within one degree of accuracy and has a built-in rotation sensor.

• Tacho feedback to one degree of accuracy
• 240-250 RPM
• Running torque of 8 N.cm (approximately 11 oz.in)
• Stall torque of 12 N.cm (approximately 17 oz.in)
• Auto-ID is built into the EV3 software.

To see the code, have a look at the page I have just uploaded. I hope you enjoy it!

Ciao,
Riccardo