Thread: default m_period for PIDController???
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Unread 04-02-2015, 12:56
Ben Wolsieffer Ben Wolsieffer is offline
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Re: default m_period for PIDController???
I'm pretty sure that increasing the PID frequency does not actually improve the performance much. In the WPILib implementation, multiplying the PID frequency by a certain amount effectively multiplies the the I and D terms by the same value. This is because the PIDController does not normalize for elapsed time internally. I think that might be what actually caused your wheels to perform better.

There is also the possibility that I am totally wrong about this, so feel free to correct me if you know more about it.
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