Discrete PID controller of manipulator
Green motor block is smart. There is a PID controller inside of it with some coeffitients (Kp, Kd, Ki). It can move a mobile robot with power '1'. But it can't smoothly control a manipulator with a cargo.
We use a tunable discrete PID controller to fix it. You can change a speed of a manipulator by changing its functionality time.
- EV3 program with english comments, myblock and variable names.