Thread: Velocity PID(F) Best Practices - To Integrate, or Not To Integrate?
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Unread 12-05-2016, 11:48 PM
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Jared Russell Jared Russell is offline
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Re: Velocity PID(F) Best Practices - To Integrate, or Not To Integrate?
Quote:
Originally Posted by Oblarg View Post
Just a note about PID control on the talons: god, the handling of the units in the java WPILib code is terrible. "Native units" (which are noted to be either per 10ms or per 100ms depending on which source you check; they are actually the latter) are used everywhere *except* for the set and getsetpoint functions, which use RPM. The comments helpfully mention that the latter function returns a value in "appropriate units." Also, the output scaling for F gain is -1023 to 1023, which is a sort of odd choice.
I agree wholeheartedly...I'm hopeful that this will be improved for 2017.
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