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Re: RobotBuilder Subsystems with multiple PID loops
If you are seriously limited in your control system design by arbitrary limitations imposed by an autocoding tool or framework, then maybe the autocoding tool or framework is not the correct way to write the code you need.
Basically, you should just write the code manually. The code itself is only a few lines long (including the PID control math) and should be small enough to fit in a single function.
I've always seen the RobotBuilder and command-based frameorks as large inefficient beasts which impose so many design limitations on algorithm code that in almost all cases you are better off without them.
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"Sometimes, the elegant implementation is a function. Not a method. Not a class. Not a framework. Just a function." ~ John Carmack
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