[Alchemy99]

My team is having this same issue, i think.

I am trying to tune a PID loop to control angular position of the arms. It should have been simple.

We are using an Encoder on the shaft for Angular measurement.

It should have been simple feed the input of the PID loop the encoder, set max and min outputs to 1, -1. and it should have worked. but the gains are extreamly low, 0.015 for P. for it not to overshoot. than when any load is applied it slows way down.

My experience with pid loops is limited. but no mater the load it will do its best to get to the setpoint repeatedly, same speed, time etc. within the capabilities of the motor.