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!