26-12-2016, 16:54
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Registered User
 FRC #0330 (Beachbots) Team Role: Engineer
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Join Date: Jun 2001
Rookie Year: 1997
Location: Los Angeles, CA
Posts: 8,543
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Re: Position and velocity PIDControllers using same encoder
Quote:
Originally Posted by Oblarg
Yeah, but you can't send the same encoder object to two separate PIDController objects and have it be a kRate source for one of them and kPosition source for another. Hence the wrapper idea, which is ugly but would probably work.
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Here's a wrapper that 2485 wrote that does this.
https://github.com/team2485/frc-2016...dDistance.java |