---
# System prepended metadata

title: meeting notes 1/29
tags: [meeting-notes-spring-2022]

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---
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 