PID control with arduino

Part4 Calibrate the PID constants

To calibrate the PID constants we start with Kp = 1. This will give a proportional response to the system. That means if the angle is -30º it's logical to give 30 throttle more to the left side and 30 less to the right. This will make the system oscilates from left to right and viceversa. If with Kp = 1 it dosn't oscilates we can increase the Kp. When we have a quite good result we can add the D constant. The I is not that important. There are systems that only uses PD instead of PID. The D is the constant that acts upon the speed of the error change. It reacts very past. Increase the D value till you get a good result.

Finally add the I constant if you want. It's not necesary. It has to have a very low value compared with the other ones.