PROGRAMMING - PID CONTROL - 0 views
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The only time you will need this term is when acceleration plays a big factor with your robot. If your robot is really heavy, or gravity is not on it's side (such as steep hills), then you will need the integral term.
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The sampling rate is the speed at which your control algorithm can update itself.
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To increase sampling rate, you want an even faster update of sensor readings, and minimal delay in your program loop.