Move Carefully
PID control, motor control, velocity commands, and tuning.
What You'll Learn
- Distinguish between open-loop and closed-loop control
- Implement a PID controller and tune its P, I, and D gains
- Send velocity commands (linear and angular) to a mobile robot
- Understand motor control signals: PWM, direction, and encoder feedback
- Debug common control issues like oscillation, overshoot, and steady-state error
Open Loop vs Closed Loop
Understand the fundamental difference between open-loop and closed-loop control — and why feedback is essential for precise robot movement.
PID Control
Learn the P, I, and D terms of PID control — the most widely used control algorithm in robotics — and understand how they work together to achieve precise motion.
Motor Control
Explore the three main motor control modes — velocity, position, and torque — and learn how H-bridges and PWM make precise motor control possible.
Velocity Commands
Learn how to command robot motion using linear and angular velocity, and understand the kinematics of differential drive and Ackermann steering.
Tuning & Debugging
Practical techniques for tuning PID controllers, diagnosing motion problems, and making your robot move smoothly.