Currently PID has the robots drive straight. Yippee! However, it doesn't seem to work for all the robots.
Turning works fine for nearly all the robots, so the issue likely isn't there.
However, when driving a certain amount of distance is where the issues start to come in, where some robots go haywire. In particular, bots #2 and #5 seem to not work well with PID, while bots #6, #7, and #12 seem to work fine with it.
Your job would be to debug why these robots aren't working, and possibly modify the PID code to be more robust and work for all bots.
Here's something I noticed doing hardware tests, might be worth looking into:
"as I'm doing hardware tests I noticed the bots that didn't like your PID (#2 and #5) had deadzoens for their motors that were a bit low, around the range of 0.14-0.17
meanwhile, the bots that worked with pid (like #12, #6, #7) has deadzones at a higher range of around .22 - .25
I don't know if the difference is enough to be meaningful but it could be possible that if the motors still think they're at the deadzone as they ramp up their speed, but in reality they are actually moving, that could mess with PID a bit"
Currently PID has the robots drive straight. Yippee! However, it doesn't seem to work for all the robots.
Turning works fine for nearly all the robots, so the issue likely isn't there.
However, when driving a certain amount of distance is where the issues start to come in, where some robots go haywire. In particular, bots #2 and #5 seem to not work well with PID, while bots #6, #7, and #12 seem to work fine with it.
Your job would be to debug why these robots aren't working, and possibly modify the PID code to be more robust and work for all bots.
Here's something I noticed doing hardware tests, might be worth looking into:
"as I'm doing hardware tests I noticed the bots that didn't like your PID (#2 and #5) had deadzoens for their motors that were a bit low, around the range of 0.14-0.17
meanwhile, the bots that worked with pid (like #12, #6, #7) has deadzones at a higher range of around .22 - .25
I don't know if the difference is enough to be meaningful but it could be possible that if the motors still think they're at the deadzone as they ramp up their speed, but in reality they are actually moving, that could mess with PID a bit"