SPIKE Prime Adaptive PID Control

This repository contains an adaptive PID controller for LEGO SPIKE Prime robots, used in FIRST LEGO League (FLL).

📂 Project Structure

File	Description
line_following_pid.py	Main PID script for line following
auto_tuning_line_following_PID.py	Auto-tuning version for better corrections
plot_pid.py	Graphs PID values to analyze performance
pid_log.txt	Stores real-time PID data from the robot
diagrams/	Flowcharts and explanations of PID behavior
README.md	Project documentation
LICENSE	Open-source license

🚀 Learn More

• Glossary: Learn about key terms like encoders, feedback loops, and auto-tuning.
• PID Theory: Understand how PID control works and how to tune it.

🚀 Getting Started

1. Upload line_following_pid.py to your SPIKE Prime hub.
2. Run the script and let the robot follow the line.
3. Retrieve pid_log.txt and analyze it with plot_pid.py.

📊 PID Data Analysis

Run:

python plot_pid.py

This will generate graphs of error, correction, and PID values over time.

🔧 Adjusting PID Settings

Edit these values in line_following_pid.py:

P_BASE = 0.5  # Proportional gain (higher = faster response)
I_BASE = 0.001  # Integral gain (higher = fixes long-term drift)
D_BASE = 0.3  # Derivative gain (higher = smooths movement)

Tune them based on logged performance data.

📜 License

This project is licensed under the MIT License.