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Originally Posted by tr6scott
Yet in all of the data the avg loop time is less than the set loop time. In the roborio 20ms loop time, there are loop times of 8,9 & 10ms.
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Are we looking at the same files? The "20 ms" roboRIO data shows many records with times in the high 20s and 30s, and some greater than 40 ms. I wasn't able to get them all to match up to show a clear smoking gun of simple timing jitter, and I'd still like to see how long the loop contents actually took to run.
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This effectively, doubled the PID gains for these loops...
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The P term is unaffected by loop time. The I term would indeed be overrepresented with a shorter than expected loop time, but the D term would have a
reduced effect.
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Again we really did not see any issue with the elevator with stability..
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It appears that you were using the built-in SRX closed loop control, so any inconsistencies in your robot code's timing should be irrelevant.