After reflecting on the code from last year a bit, I'm thinking the same thing could have been accomplished (more simply) simply by writing a PID command along the lines if
Code:
public void returnPIDValue()
{
return leftEncoder.getDistance()-rightEncoder.getDistance();
}
public void returnPIDOutput(double output)
{
driveTrain.tankDrive(baseSpeed+output, baseSpeed-output);
}
the setpoint of the PID would always be zero (a zero difference between left and right distance).
Our code did something similar, but not entirely identical.
Thoughts?