The ESC can not work well because the pid error too large

[linorobot]

The ESC can not work well because the pid error too large

[gpmontt]

Hi everyone, @zhangcaocao have you tried to calibrate your PID? normally PWM value work beetween 1ms and 2ms as a servo

maybe, you need to give the correct values in your PID instance.

#include "PID.h"
PID pid( -255, 255, 0.05, 0.9, 0.1);
/*PID(float min_val, float max_val, float kp, float ki, float kd)
 * min_val = min output PID value
 * max_val = max output PID value
 * kp = PID - P constant
 * ki = PID - I constant
 * di = PID - D constant
 */

float setpoint = 30;
float measured_value = 0;
void setup() 
{
    Serial.begin(9600);
}

void loop() 
{
    Serial.println(pid.compfoute(setpoint, measured_value));
    delay(1000);
    measured_value++;
}

[AllofLife]

你需要自己标定pid

[zhangcaocao]

@AllofLife ，不是标定问题好吧，而是PID的error太大了，输入到电调中电机无法正常动作。

[zhuwei]

我觉得跟pid没关系啊。
源码直接把rpm写入pwm了。
问题是pwm是8位，最大也就255，rpm不一定，有可能600。
虽然PID::compute有限制范围，但我觉得应该按比例转换成pwm，而不是把rpm当做pwm。
搞不清楚作者为什么这么做。

[zhuwei]

@zhangcaocao @AllofLife 大佬，能不能加个联系方式。PID整定不会，能不能指导一下。

[AllofLife]

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