Quote:
Originally Posted by Ozuru
This is my first year using Command Based and I haven't used PID-anything yet. I'm going to have to look into them -- what makes you prefer PIDCommands over PIDSubsystems?
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I edited my response to include some of our reasoning. We also like that PIDCommands will stop any PIDControllers when they are finished. With a PIDSubsystem you have to manage this yourself.
Here is our code so far this season, feel free to look around and let me know if you have any questions.
One class you can take a look at is our
DriveAtSpeed class.