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docs: explain PID from scratch, and how to tune it by watching - #111
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`BB.PID.Kernel` documents the control law and the two places it departs from the textbook form, but nothing here says what P, I and D actually do, or how to tell from a misbehaving machine which one to reach for. Adds an Explanation page covering the three terms, which subsets are worth using and why, a symptom-to-gain table, and the argument for binary-searching a gain rather than nudging it. Also covers the case where the stubborn error is in the setpoint rather than the output, so the integrator belongs on the output and corrects the target instead. Reworked from the Goatmire 2026 balance bot workshop, with the robot-specific numbers left behind.
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BB.PID.Kerneldocuments the control law well, including the two places it departs from the textbook form. What's missing is the layer underneath: what P, I and D actually do, and how to tell from a misbehaving machine which one to reach for.Adds an Explanation page covering:
Reworked from the Goatmire 2026 balance bot workshop, with the robot-specific numbers left behind. Stops at the conceptual level and points at
BB.PID.Kernelfor the implementation.Also adds the Explanation group to
groups_for_extras, which the package didn't have.Depends on beam-bots/bb#280 for the
robotics-vocabularylink to resolve — it's an absolute hexdocs URL, so it'll 404 untilbbnext publishes.