Creating PID Tuning Graphs

Overview

This page documents a Python program designed to graph the first few seconds of power applied to the motors and robot speed. It is used to help calibrate PID parameters. I didn't know how to configure rqt_plot to display snapshots.

Plot termination Criteria

There are two termination criteria for termination 1) cnt-c and 2) time. After one of the criteria is met, the graph is drawn.

• Capture Ctl-C in Python
• capture timer event