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Running multiple PID loops on the drivetrain
Is it possible to use more than one PID controller for a subsystem like the drivetrain? Example: An encoder PID loop to drive to a distance setpoint, while a gyro PID loop keeps the robot going straight.
You could also substitute encoder with Ultrasonic sensor, etc.
If you can't run them simultaneously, is there a way to switch between PID controllers to, say, drive forward 5 meters distance (via encoder), then turn 90 degrees (via gyro), then drive forward again, etc?
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