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Discrete PID controller of manipulator

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greenMotor

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.

dPID

We use a tunable discrete PID controller to fix it. You can change a speed of a manipulator by changing its functionality time.

Packet consists:

  • EV3 program with english comments, myblock and variable names.

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