[Oblarg]

Originally Posted by ozrien

Just curious, did your team attempt a velocity servo and wasn't successful?

Not yet. We made our first foray into velocity control last year, and wrote our own integrator to slap onto WPILib's PIDcontroller object (WPIlib had not yet implemented the integrator they have now) because that was the solution that made the most conceptual sense to us. This past summer, when WPIlib did implement that, we added a feedforward term, but still tuned largely around the 'p' term of the integrated loop ('i' term of a non-integrated loop).

This preseason we are experimenting with doing PID control on the talons, and so the main question is whether we should tune around 'p' or 'i'. We're also still wrestling with technical issues, so we haven't experimented with either on the Talon quite yet.