Newsgroups: comp.robotics
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From: zins@netcom.com (Steven Zins)
Subject: Re: PID motor routines
Message-ID: <zinsCF9KDJ.LuC@netcom.com>
Organization: NETCOM On-line Communication Services (408 241-9760 guest)
References: <sdoran.751154716@cygnus.cis.ksu.edu.cis.ksu.edu> <1993Oct21.142120.9772@mksol.dseg.ti.com>
Date: Thu, 21 Oct 1993 20:17:42 GMT
Lines: 27

strohm@mksol.dseg.ti.com (john r strohm) writes:

>In article <sdoran.751154716@cygnus.cis.ksu.edu.cis.ksu.edu> sdoran@cis.ksu.edu (Steven D Marcotte ) writes:
>>I'm working on writing motor routines to control a 6 legged walker and
>>I was wondering where I could find references or sample code for PID
>>control loops.  Any information would be helpful.

>There was an article some time back in "Embedded Systems Programming", I think.
>The current issue has a very introductory article on control systems theory,
>and the author (one of their regular contributors) has promised that the next
>installment will be leading up to PID.

In "Embedded Systems Programming" are two recent articles:

1. Aug 90, "Demystifying PID Control" by Steven Sarns and Jack Woehr
   and includes a little Forth with the following comment:
   "Complete source code is available from Real-Time bulletin board system
   at (303)278-0364, the Embedded Systems Programming library on Compuserve
   (library 12 of CLMFORUM), or the Embedded Systems Programming bullitin
   board system at (415)267-7674. ..."
2. Oct 93, "The Math of Control Systems" by Jack Crenshaw which is excellent
   but has no code.

Embedded Systems Programming 'subscription customer service' is (800)829-2689.

Steve Zins    zins@netcom.com

