05-01-2016, 01:10
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RobotPy Guy
AKA: Dustin Spicuzza
 FRC #1418 (), FRC #1973, FRC #4796, FRC #6367 () Team Role: Mentor
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Join Date: Dec 2008
Rookie Year: 2003
Location: Boston, MA
Posts: 1,045
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Re: PID with encoder
I'm not super familiar with PID theory, but I do know that for 2016 they've added a velocity mode that does the PID calculations slightly differently. That might explain why you're having issues.
Here's a link to the new code: https://github.com/robotpy/allwpilib...ller.java#L265
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Maintainer of RobotPy - Python for FRC
Creator of pyfrc (Robot Simulator + utilities for Python) and pynetworktables/ pynetworktables2js (NetworkTables for Python & Javascript)
2017 Season: Teams #1973, #4796, #6369
Team #1418 (remote mentor): Newton Quarterfinalists, 2016 Chesapeake District Champion, 2x Innovation in Control award, 2x district event winner
Team #1418: 2015 DC Regional Innovation In Control Award, #2 seed; 2014 VA Industrial Design Award; 2014 Finalists in DC & VA
Team #2423: 2012 & 2013 Boston Regional Innovation in Control Award
Resources: FIRSTWiki (relaunched!) | My Software Stuff
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