how to Tune PID for real-robot

[thanhtruongphan]

because I am using the same motor as Andino is using but different type.

the default PID parameters seem to be not suitable for my Motor, but i dont know how to Tune it?

someone help me, please.

-thank you-

[francocipollone]

because I am using the same motor as Andino is using but different type.

the default PID parameters seem to be not suitable for my Motor, but i dont know how to Tune it?

someone help me, please.

-thank you-

What do you mean with different type? Can you provide more specs on the new motor?

If the connections are the same (encoders / forward / backward) the only thing you should change is the encoders ticks per revolution value: See https://github.com/Ekumen-OS/andino/blob/humble/andino_description/config/andino/hardware.yaml#L6

You should insert there the number of encoder ticks per revolution of your motor. You can find it in the datasheet or even better, measure yourself using some script, you can use something like https://github.com/Ekumen-OS/andino/tree/humble/andino_firmware#test-it

[thanhtruongphan]

yah, happy for your reply...

My motor is https://www.thegioiic.com/ga25-370-dong-co-giam-toc-co-encoder-12vdc-130-rpm-truc-4mm

It has 11 pulse incredemental encoder hall. A gearbox ratio 45:1, so with mode x4 quadrature encoder: 45x11x4 = 1980 ppr

If the connections are the same (encoders / forward / backward) the only thing you should change is the encoders ticks per revolution value: See https://github.com/Ekumen-OS/andino/blob/humble/andino_description/config/andino/hardware.yaml#L6

yah, I did it.

But I have two problems with control motor.

• motor always run with maximum velocity. (I think may be by PID, I have a little experience with turn PID. When PID is not correct, it always turn with maximum)

• when i use teleop to control left/right rotation, it only works about 0.5 seconds (in a flash), then it rotates forward at maximum speed