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Re: Tuning PID Constants Over a Range
Quote:
Originally Posted by AustinSchuh
I've found the opposite. I and D are quite important for pneumatic tires on carpet. We added the equivalent of I this year, and have found that D has been crucial for years to get smooth fast performance.
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We ran a cascading P loop last year, and it worked beautifully. It's really not any extra work (or complexity) to run cascading control if you're already using velocity control for your drive - you just output to the existing PID controller instead of to the motors.
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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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