Quote:
Originally Posted by F22Rapture
Does the setpoint have to be a distance, or can we set the setpoint to a certain number of counts?
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"Distance" is just a descriptor. You can use whatever you want. If you want a certain number of counts just set your "distance per count" to 1.
Basically, distance per count allows you to put units into your PID instead of relying just on counts. You could translate counts into inches, feet, etc.
Edit: Please note this is using WPILib Java. If you're not using WPILib, the lines of code mentioned above won't work out of the box.