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6dof-robot-pid-control-in-v-rep's Introduction

6DoF-4motor-Robot-PID-Control-in-V-REP

How to Run:

1-First of all try to install CoppeliaSim (V-REP) Software:
The free version is the Educational one. DownLoad from this link and install.

2-Open vrep_test_scene.ttt for quadcopter using installed software.

3- Try to change these features in the CoppeliaSim environmant:

  • Change the Simulation Time Step (dt) to 10ms
  • Change the Dynamics Engine to Newtonian
  • Change the Dynamics Setting to very accurate

4- Run Main.py

In this file, your Python IDE will be connected to CoppeliSim if not

  • Try to connect Python and CoppeliaSim by finding your server IP (usually 19999 if not 19997)
  • see this link

5- PID gains have been tuned. If you are not satisfied with the results, try to change the gains in your way.

6- Enjoy!

Reference: link

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