Thread: Bang-bang using Talon-SRX and PID for a Shooter
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Unread 03-02-2016, 05:06 PM
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Jared Russell Jared Russell is offline
Taking a year (mostly) off
FRC #0254 (The Cheesy Poofs), FRC #0341 (Miss Daisy)
Team Role: Engineer
  
Join Date: Nov 2002
Rookie Year: 2001
Location: San Francisco, CA
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Re: Bang-bang using Talon-SRX and PID for a Shooter
We have 6 motors on our robot this year that use the velocity-control loop provided by the CAN Talon SRX at least some of the time. It works great and is dead simple to tune (RTM for details, but start with F from first principles or measurement then add some P until you're happy...maybe D if you are feeling fancy).

1KHz control loop + internally low-pass filtered velocity measurement (basically a moving average filter over the last 32(?) dEncoderTicks/100ms) = I'm unlikely to use anything else for velocity control in FRC ever again