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Unread 23-03-2016, 15:47
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jreneew2 jreneew2 is offline
Alumni of Team 2053 Tigertronics
AKA: Drew Williams
FRC #2053 (TigerTronics)
Team Role: Programmer
 
Join Date: Jan 2014
Rookie Year: 2013
Location: Vestal, NY
Posts: 192
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PID controller with camera.

Hi, I am working on a command that auto aligns to the center of the goal by rotation and we are getting some overshoot with it so I am implementing a PID control loop. However, the PIDController class takes in a PIDSource and outputs a PIDOutput, so I wrote wrapper classes to write and read raw values (like ints and floats) to a PIDOutput and PIDSource. However, when I call the Enable function on the controller, it instantly crashes. I don't really know why this is happening.

My code is here:
https://github.com/team2053tigertron...lignCenter.cpp

Any help is appreciated,
Drew

Last edited by jreneew2 : 23-03-2016 at 15:57.