http://www.inpharmix.com/jps/PID_Con...ms_Robots.html
Simple and detail explanation about pid, tuning.
We wrote our own pid for the elevator this year, about a week into the debug, one of the students says, hey Labview has a PID instruction, why didn't we use that...
A week after that a mechanical mentor says, hey the Talon SRX does PID on the talon, why didn't we use that...
The answers are the same, because I wanted them to learn it. . .
We found the Kc and oscillation period, (we log elevator motor output and elevator encoder feed back to .csv file) to be pretty good values, we had to tweek them down a bit from the chart, but the same gains worked for both lifting loaded, unloaded, lowering loaded and unloaded. We also do the calcs in timed tasks loop with a 20ms metronome timer.