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Unread 11-02-2016, 11:41
geniusadam69 geniusadam69 is offline
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Join Date: Feb 2016
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Re: DriveTrain TankDrive Control

Hi,

We are currently trying to use PID control with navigation to turn to a certain angle, and find the same issue. The sampling period for the update is too slow for effective PID control.

With that said, I think you'll find 1 and 2 better than 3.

When using 1, 1 PID controller should be used for all 4 Talons. The setSetpoint should be the number of ticks on the encoder. It'll likely overshoot and have to count backwards. You'll probably have to write something that can do this.

For 2, look at the talon class and see if there's something that allows you to set the motors to reverse. Robotdrive class has this functionality, and I would guess talon has something similar.

Good luck!
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