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Originally Posted by nighterfighter
Another option is to create a PID loop that runs on the roboRIO.
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Yet another option would be
TBH.
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Another option, at least in years past, was to feed the encoder values directly to a Jaguar, and the Jaguar would run the PID loop for you after you give it a set point. I am not sure what the equivalent motor controller of today is that can do that, however.
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Talon SRX has built-in PIDF (Proportional/Integral/Derivative/Feedforward) if used in CAN mode.