Hey Ytai, I am trying to implement the lqr algorithm recently. Thank you very much for the sample code. It helps a lot. I have a question about the sensors you use, according to the code, you mainly used gyro sensor for getting error_, errorDeriv_, and errorInt_, which are enough for the three state variable for pid control. But what you use accelerometer for?? why getting another error_ and orientationX_? And actually are the two sensors working at the same time?? how this two sensors working in the same time domain?? Thank you.
Best, Jiexin On Tuesday, February 11, 2014 1:38:34 AM UTC+9, Ytai wrote: > > It's a first order IIR filter (lowpass): > y[n] = 0.999*y[n-1] + 0.001*x[n] > > > On Sun, Feb 9, 2014 at 8:56 PM, Al B <[email protected] <javascript:>>wrote: > >> That makes more sense now. >> >> What about that 0.999 factor? Why do you need that? >> >> >> errorInt_ = (float) ((error_ * dt * 1e-9) + 0.999 * errorInt_); >> >> -- >> You received this message because you are subscribed to the Google Groups >> "ioio-users" group. >> To unsubscribe from this group and stop receiving emails from it, send an >> email to [email protected] <javascript:>. >> To post to this group, send email to [email protected]<javascript:> >> . >> Visit this group at http://groups.google.com/group/ioio-users. >> For more options, visit https://groups.google.com/groups/opt_out. >> > > -- You received this message because you are subscribed to the Google Groups "ioio-users" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To post to this group, send email to [email protected]. Visit this group at http://groups.google.com/group/ioio-users. For more options, visit https://groups.google.com/groups/opt_out.
