Quote:
Originally Posted by Oblarg
Is there any convenient way to do this using the standard WPILib PIDSubsystem object?
|
Inside of the execute method of the command running your drivetrain:
Code:
if(commandedSetpoint < some value that is close to 0) {
yourSubsystem.getPIDController().setPID(small kP, kI, kD);
} else {
yourSubsystem.getPIDController().setPID(normal kP, kI, kD);
}