[ozrien]

Joey1939, What was it that you needed that wasn't in the Talon SRX Software Reference Manual?

Also, the verbatim PIDF code used by Talon is in section 18 of the software reference manual. That was deliberate so programmers didn't have to guess at the implementation.

kmrchiefdelphi, if you want a specific answer about what's happening with a specific set of gains and error, you're best best is to screenshot capture the Self-Test results (and the gain values that are under the self-test results). That displays your throttle, the ClosedLoopErr, and sensor pos/vel.

ClosedLoopErr is what multiplied by Kp, and is your target - current sensor position (or velocity if that's selected). So yep if you are using quad encoder, then there is 4XCPR units per rotation where CPR=countsPerRotation. Talon is always in 4X mode.

Integral accum sums closedLoopErr every 1ms.
dErr is the change in ClosedLoopErr per 1ms.