---
title: meeting notes 1/29
tags: meeting-notes-spring-2022
---
# meeting notes 1/29

## networking

PID loop on each robot, create our own server in python, potentially use ROS?

questions:
why do we need ros at all?
pid loop depends on whether or not we use encoders

to-dos:
simulation
- figure out how to use it
- can we integrate with gazebo without ros
- encoders vs pid?
- rotation of april tags to help correct for motor unsynchronousity??? lol

protocol
- have the robot know what april tag it is
- assign the pieces based off of the robot locations

pid loops
- one for rotation of april tags
- one for position
- move surrounding robots with a pid loop so that robot can use path planning for individual robot

apm (mpc) vs pid
- https://www.researchgate.net/publication/259623955_APM_Simple_MPC_vs_PID_-_detailed_comparison