32972[SeattleRobotics] Continuous trajectory to discrete trajectory transform and the programming example
- Oct 1, 2007Bondhan
> suppose I have a continuous trajectory (position vs time),Can you be more specific? What does the trajectory look like? How is it
> but in the real implementation in programming, I will have to use or
> transform to the discrete time.
defined or generated? How accurately do you need to follow the trajectory?
What effector are you using and how is it controlled?
> Btw, does anyone have an example of PID programming in a microcontroller?As a general question to everyone: how often do you use someone-else's code
> share if you don't mind.
in that way? How often do you import code written by someone else and
integrate it into your own program on a microcontroller?
For my part, I very rarely do. For instance, I wouldn't even consider doing
it for a PID controller. I reckon that by the time I've found a good one,
understood how it works and how to interface to it and integrated it into
my own program, I'd have taken twice as long as if I'd just read the theory
and written my own. But that could be an irrational prejudice. Sure there
is very primitive code like, say, integer multiply that I might download
and there's very complex code like TCP/IP that I'd buy from somewhere but
those are well documented, well written examples from proper "libraries".
I realise that other people do ask for code; so do you actually find it
ever helps? Maybe I'm missing out on something good!
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