Quote:
Originally Posted by soundfx
Our team reuses this class as a basic implementation of a pi controller attempting to keep rotation to a minimum. We only usually only use it for holonomic drive trains, but it could easily be used for a tank drive. We only use a pi controller here, but you could easily modify this for a more accurate pid controller, or use the wpilib class.
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I'd suggest here a reasonably stiff P controller. That'll get the OP most of the gain for fewer corner cases. We use essentially P gyro compensation.