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Talon SRX not taking PID values from program
We have a strange thing happening with our Talons SRX.
We have tuned the PIDF using the web config. Once we're happy with the values, we copy them to our program.
Inside our robotinit method, we create the CANTalon objects for each motor, then we:
- set the feedback device (quad encoder)
- set control mode (kspeed)
- set(0) just for safety
- set the config encoder codes per rev (20)
and since we have slave, we set the appropriate.
The problem is this: when our program runs, the talon show a strange behaviour, not running smoothly constantly stopping and starting.
This is fixed by changing any parameter of the PIDF from the web config while running. For example, if P = 0.1, just setting the P = 0.2 from the web config fixes the problem. It continues to work fine even if we set the original value back from the web config.
Any ideas?
Thanks,
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