[techhelpbb]

It doesn't matter that it makes one change per 1ms (even if that's accurate).

It matters how long it takes for it run the gambit full range for it's output open loop. That matters because it dictates how wide the range of control the Jaguar actually has.

Even if you want to argue that it's related to it being about to make 1,000 changes in 1 second. That doesn't actually tell me how far it can drive it's output before it knows it's must back off.

Hence you can't get this from the code. Unless of course you make some wild assumptions or they have it in a comment I haven't seen.

For example:

Perhaps my output system (generically speaking and I'm limiting this to the guts of the Jaguar) is capable of producing 1,000 discrete states.

I can change that state 1,000 times a second.

Even then....the I repeats per minute parameters...actually is controlled by how far the integration can drive the output in the working band.

There's a working example of what I'm getting at, at the link I pointed to above. These parameter effectively characterizes the 'envelope' of the output of the controller, both in regards to how long it will take to achieve the maximum number of steps of the integrations it can achieve (output characteristics being a part of that and because it's discrete interval of 1ms) and then repeats and how long it can drive the derivative for. Not just how often it can do the process steps that happen to form a PID loop. How far can it actually do (how many 1ms steps) it before it's outside of it's actually available working parameters for output and it knows that so it starts all over...or repeats.

I mean it can obviously do this 1,000 times a second forever (or at least until someone turns it off or the sun goes cold). However, at some point there's a limit to where the integration or derivative can go and that limit is dictated by the output, the PID implementation or both...not just the system it's attached to (outside the Jaguar).

If you know this...and it can be measured...you can put yourself within the scope of the available control of the Jaguar more accurately...then say guessing because it 'doesn't appear' to be on fire yet.