How to start picking PID gain constants?
March 9, 2013
I want to implement PID to my balancing robot but I have totally no clue where to start with: picking the gain constants.
My only goal is to make it balance by itself, no time for making it move for now.
With gizduino w/ AtMega328 and GY-52 MPU6050, I was able to use the Kalman Filter to fetch the pitch angle without any problem. I tried to process it with just a simple forward-backward motion without PID, and it falls eventually. Seems like the PID is a necessity, as what I have seen in almost all references.
I don't use wheel encoders, as it is considerably possible to balance without them. I also used L293D to drive the motors.
I really need an advice or a concrete explaination or a technique to start my PID.