Programming Robots · SHS2 Robotics

Lesson notes

Learning Objectives

Indicator: 2.3.3.LI.2 - Apply the principle of variation and proportionality to experiment with the effect of proportional, derivative and integral gains on the efficiency of a PID-controlled robot.

By the end of the lesson, learners can:

State what each gain in a PID controller does and predict, using the principle of proportionality, how increasing or decreasing that gain will affect the robot’s performance.
Modify the values of the proportional gain (Kp), derivative gain (Kd) and integral gain (Ki) in a provided PID program for a two-wheeled rover robot.
Conduct a structured experiment, varying one gain at a time while holding the others constant, and record the robot’s navigation behaviour in terms of oscillation, overshoot, settling time and steady-state error.
Analyse experimental results to identify the trend for each gain and describe whether the change made the robot more or less efficient.
Write a short group report summarising the observed trends and explaining how the gain values relate to navigation efficiency, using evidence from the experiment.

The depth of knowledge required here is Level 3, strategic reasoning, so learners will make decisions during the experiment rather than simply following a fixed recipe. This lesson builds on the implementation work from Week 14, where learners got their PID line followers working. The focus this week is on understanding the “why” through variation and proportionality.

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Curriculum details

Strand: Robot Construction and Programming (Strand 3)
Sub-strand: Programming Robots (3.3)
Content standard: 2.3.3.CS.1 - 2.3.3.CS.1 Demonstrate understanding and programming skills in the implementation of PID controllers. 2.3.3.LO.1 Implement a PID controller and experiment with the effects of proportional gain, derivative gain, and integral gain on the navigation efficiency of PID-controlled two-wheeled rover robots.
Indicator: 2.3.3.LI.2 - Apply the principle of variation and proportionality to experiment with the effect of proportional, derivative and integral gains on the efficiency of a PID-controlled robot.
Suggested placement: Semester 2, Week 15 (Week 35 of the year)
Our suggestion, laid out in curriculum order across three terms of twelve weeks. NaCCA does not fix the week, so follow your school's scheme of learning.
Curriculum reference: NaCCA curriculum document, p. 128

Exemplars (from the NaCCA curriculum)

Project-Based Learning: Link learners' understanding of PID controllers to experiment and observe the effect of the various gains (proportional, derivative and integral gain) on the performance of a PID-controlled system. The observed trends should be documented as a report and submitted as an assessment document.

Assessment (2.3.3.AS.2). The document marks these depth-of-knowledge levels for this indicator: Level 3 Strategic reasoning.

Teaching and Learning Resources:
- Videos
- A computer with required programming software
- Flip boards