[sgtell]

Looks like the Jag PID limits integrator wind-up:

    //
    // Update the error integrator.
    //
    if((psState->lIntegrator & 0x80000000) == (lError & 0x80000000))
//trimmed

[/quote]

From this old thread it looks like the Jaguar's onboard firmware source code was once available - at least the old TI/Luminary micro version (I understand that the FRC version was not).

Is there anywhere to obtain this source code today? Our students are attempting position-based PID control onboard the jaguar using an encoder, and having some difficulty. Being able to point to exactly what the jaguar is doing with their parameters may be a useful teaching opportunity.

thanks, Steve