Not to threadjack TOO much, but I am curious: do I need a really high resolution for D to work properly? I just have a resolution of degrees right now, because I am scaling the input before it hits the PID. It's just way too crazy to try to tune...I have a hack in place that zeroes the I term on my steering motor (guess what we're doing for a drivetrain...
) when we're inside a deadband...but I know that's not the
right way to do it.
Does D fix my overshooting problems?
JBot