[baronep]

Does anyone have any ideas about how to determine if a PID loop has settled out yet? We have our PID loop running relatively well, but I am trying to find a way to sense if the loop has settled out in order to trigger our intake system to shoot the ball. I tried if ERROR < 5 then RUN INTAKE. But it runs momentarily on the overshoot and undershoot. I was able to partially fix this by only allowing it to shoot after 3 seconds, but I feel that there is a better way to do this?

Patrick