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Originally Posted by techkid86
what's the motor connected to?
black Jag PWM
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what's the business end of the motor connected to?
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is the encoder signal going to the Jag or the DS?
Digital Sidecar
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are you getting a proper signal from the encoder? e.g. if you run the motor open loop and just read the encoder value, does it change linearly with the open-loop voltage supplied to the motor?
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what PID are you using?
PIDController
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I assume you mean from from WPIlib?
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what value of setpoint are you using?
every few seconds, it alternates between 0, and 0.3
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0 and .3 what? fraction of 100% command?
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how did you scale the value of the encoder?
what ever the default is. that there could be the problem, but i am unsure.
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you need to scale the encoder signal so that it corresponds to the setpoint. otherwise the PID cannot form a proper error signal.