|
Re: Swerve Gear Box
P= Error*Pconstant
I=((Previous Error*change in time + Error*change in time)/2)* Iconstant
D=((Error-PreviousError)/change in time)* Dconstant
output = P+I+D + 127
60 < Pconstant < 95
5 < Iconstant < 25
0 < Dconstant < 5
The time can be obtained from the FPGA
__________________
Do not say what can or cannot be done, but, instead, say what must be done for the task at hand must be accomplished.
Last edited by davidthefat : 08-27-2011 at 06:10 PM.
|