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Re: Velocity PID control and setpoint ramping
Quote:
Originally Posted by Pault
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);
}
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Ah, didn't know there was a method to change the PID values after instantiating the object. Thanks! We'll give this a look, too.
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Member, FRC Team 449: 2007-2010
Drive Mechanics Lead, FRC Team 449: 2009-2010
Alumnus/Technical Mentor, FRC Team 449: 2010-Present
Lead Technical Mentor, FRC Team 4464: 2012-2015
Technical Mentor, FRC Team 5830: 2015-2016
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