[Ether]

Originally Posted by Cal578

If the PID is in the Jag, why does it matter what language we're using in the cRIO?

I should have been clearer. My point was that all PIDs are not created equal. There are several different "forms" of PID, and in the different forms some of the tuning constants have different meanings.

So if you were using a language/library on the cRIO which used a different form of PID than what is used in the Jag, then you would tune the Jag PID differently from the way you would tune a PID in the cRIO.

By "tune differently" in this context I mean you would have to be aware that, for example, in some forms of PID you decrease the I term to increase the I effect.

I thought the Jag already has a PID control built in

It does.

and we just configure it (set the constants, etc.).

Correct.

I'm looking for advice on how to obtain the constants for the controller.

Here are some possibly useful links:

http://www.chiefdelphi.com/forums/sh....php?p=1136258

http://www.chiefdelphi.com/forums/sh...d.php?t=100135

http://vamfun.wordpress.com/2012/02/...ero-placement/

http://uberbots.org/o/Resources/For_...ms/PID_Control

http://www.chiefdelphi.com/forums/sh...04&postcount=3

http://www.chiefdelphi.com/forums/sh...90&postcount=5

http://www.chiefdelphi.com/forums/sh...38&postcount=4