Quote:
Originally Posted by techhelpbb
...The code can only actually execute so fast.
...PID loop performance is partially dictated by how fast the controller can respond
...You can't get the parameters I want like this...unless you can assure me...how many steps of integration and derivative you'll make and how long each iteration called every...apparently 1ms...takes.
...The question I'm basically asking is how fast can the Jaguar actually integrate in response to a change in the input and how fast can it do the derivative.
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The iteration rate is 1000Hz.
Assume that there's one input, one calculation, and one change in the output every iteration*.
Assume the input, calculation, and output can occur in any order and can take the entire 1ms.
Design around that. It ought to be plenty fast for anything FRC related.
*
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to be clearer:
- "one input" meaning "one reading of the necessary inputs for the computation"
- "one calculation" meaning one crunching of the inputs (including P,I,&D etc) to generate a new output
- "one output" meaning the new calculated output is returned by the function
[edit]