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Unread 07-04-2016, 20:24
Thad House Thad House is offline
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Re: PIDController + Latency - related issues

Quote:
Originally Posted by Agent ZeusChops View Post
You could probably handle the calculations on the DriverStation, agreeably you shouldn't really attempt that. I have a feeling that the latency between when the PID gets to the setpoint and the 'notifier' goes off for your team either the roborio handles that and shoots or there is a person that has to shoot. If there is a person who has to give interaction for the shooter to 'shoot' then it could cause issues, correct?
It shouldn't. The PID loop should have a consistent setpoint set, and if tuned right it will oscillate a little bit but will then converge on 0. If the drivers are telling the bot to shoot while the system is still oscillating, thats not a latency issue, thats a tuning issue. Tuning a PID loop, especially in a game like this, is HARD, and takes a lot of knowledge and time to get it working. Usually what teams do is set a tolerance allowed for the PID to be considered within range, and then shoot only if the shooter is within that range.
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Co-developer of RobotDotNet, a .NET port of the WPILib.
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