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Re: Speed PID Function
In post #24, "cycle time" is not the time it takes for your encoder to rotate once.
it is the delta time between the two GetRaw() readings you are subtracting to get "delta_pulses" (the change in pulse count).
if you are running the PID in TeleOp, that would be approximately 20 milliseconds.
Last edited by Ether : 29-01-2012 at 03:54.
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