Chief Delphi - View Single Post

connor.worley · #8 27-02-2014, 17:51

Code:

//Limits arm speed for testing
if(Shooter.shooterTalon.get() >= 0.05)
{
    Shooter.shooterTalon.set(0.05);
}else if(Shooter.shooterTalon.get() <= -0.05)
{
    Shooter.shooterTalon.set(-0.05);
}

These limits keep your values barely outside of the Talon's deadbands, and your output could be getting deadbanded depending on calibration.

Also,

Code:

        previousP = processVariable;

should be

Code:

        previousP = PID_P;

although this won't have any effect while Kd = 0.

EDIT: saw OP's last post. Did you increase Kp?