Quote:
Originally Posted by Ozuru
That makes a lot of sense. Ether also sent me a very helpful video by Brad Miller on the purposes and applications of PID loops. Thanks for the helpful explanation. 
Would it make sense to setup your Drive Train subsystem itself as a PIDSubsystem using encoders? |
You could do that. Or you could use a PIDCommand instead. Our team prefers using PIDCommands over PIDSubsystems. But I know others prefer it the other way around.
We like to keep our subsystems as simple as possible and do the bulk of our work in the commands. This is one of the reasons we prefer the command route.