We have developed a PID control library. One module allows you to do PID control on a motor with encoder. The most useful function is:
Code:
void SetHeight(float height, Event *setHeightEvent = NULL);
We used it in the Logomotion game where it controls our ladder to raised to a certain height. For example:
Code:
SetHeight(96.0); //raise the ladder to 8 ft high
You can access our code at:
http://proj.titanrobotics.net/hg/Frc...fd8/PostSeason
The ladder code is in Logomotion/Ladder.h. The PID control motor library module is in trclib/TrcPIDMotor.h