[Ether]

Originally Posted by techkid86

On second thought, we are having issues implementing one of the methods you recommended earlier.

Which method, and what issues?

We have decided to use the

Output= Output +...

method, but out issue is, how do we get the value of the PIDControllor without setting a PIDOutput? could we just make an output object, feed it to the controller, and further ignore it?

Instead of sending the PID output directly to the Jaguar, you want to intercept it, process it, and send the processed value to the Jaguar.


So if you want to add feedforward, you'd do something like this:

processed_output = PIDoutput+feedforward;

if (processed_output>1) processed_output=1;
else if (processed_output<-1) processed_output=-1;

... then send processed_output to the Jaguar.


If you want to integrate the PID output, you'd do something like this:

processed_output += K*PIDoutput;

if (processed_output>1) processed_output=1;
else if (processed_output<-1) processed_output=-1;

... then send processed_output to the Jaguar.