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Re: PID Troubleshooting
It sounds like your D is too high, the robot starts accelerating and the D kicks in and slows it down too much, once it slows down, the D term decreases and it accelerates again.
One way to help debug your PID loop is to have the robot print all the appropriate data with commas delimiting the values. You can then use hyperterminal to capture the data to a file, and import it into excel to graph.
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