user16716: I'm currently working on a self-balancing robot with an Arduino Uno and a 10DOF ADXL345 sensor. Everything is going fine until I got to this PID tuning part. I've read about it several times but I'm unable to get the desired results. Can somebody give a detailed guide on PID tuning? Thank you.

user8308: Maybe you can help yourself with this tutorial for PID line follower robot. I successfully tuned my PID for line following and had some success with PID for wall following with sonar.

user16725: In real life there is no set equation to find the PID values. At best you'll get close with equations and then need to tune the parameters.
For anyone into PID loops have a read of this.
I've found it to be excellent.
My advice is to:

only use P
set I & D to 0
get it and good as you can by trial and error
add I and trial it too

D is for experts really and may cause weird/undesirable jitter.

16716: <p>I'm currently working on a self-balancing robot with an Arduino Uno and a 10DOF ADXL345 sensor. Everything is going fine until I got to this PID tuning part. I've read about it several times but I'm unable to get the desired results. Can somebody give a detailed guide on PID tuning? Thank you.</p>
 8308: <p>Maybe you can help yourself with this <a href="http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html" rel="nofollow">tutorial</a> for PID line follower robot. I successfully tuned my PID for line following and had some success with PID for wall following with sonar.</p>
 16725: <p>In real life there is no set equation to find the PID values. At best you'll get close with equations and then need to tune the parameters.</p>

<p>For anyone into PID loops have a read of <a href="http://controlguru.com/table-of-contents/" rel="nofollow">this</a>.
I've found it to be excellent.</p>

<p>My advice is to:</p>

<ul>
<li>only use P</li>
<li>set I &amp; D to 0</li>
<li>get it and good as you can by trial and error</li>
<li>add I and trial it too</li>
</ul>

<p>D is for experts really and may cause weird/undesirable jitter.</p>
