[notmattlythgoe]

Originally Posted by cstelter

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

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?

The same thing can also be accomplished by doing something like this:

public void returnPIDValue()
{
    return leftEncoder.getDistance()-rightEncoder.getDistance();
}

public void returnPIDOutput(double output)
{
    driveTrain.arcadeDrive(baseSpeed, output);
}

The original question that never got answered needs answered to really give a good answer for the best way to do this.