ZinZam

Control

Ideally you will want to control your micromouse. In many of the mice built, there were three controllers.
The controllers in use varied from velocity controllers to displacement controllers, with types of PD, PI, and even P controllers.
The idea of a controller is to make sure your mouse does what you want it to do, even if it's characteristics change, especially if you have an uneven or dirty maze (like the one given to us).

I learnt alot about control from this project, and even though we used two PI and a PD controller, it probably would have been better to have designed the controller using state space rather than tuning individual controllers.

There is one thing you want to do to make sure your controller is both fast and stable, and that is to have good sensor readings with the least amount of noise.

I will write more about control after demo day.