Quote:
Originally Posted by apples000
Does the Java implementation of PID multiply the whole loop output by Kp, or does it just multiply the first term?
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I couldn't find a link to download the 2013 Java WPILib source, but here's the 2012 C++ WPILib:
m_result = m_P * m_error + m_I * m_totalError + m_D * (m_error - m_prevError);