Thread: WPILib PID controller object
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Unread 08-02-2009, 12:29
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Re: WPILib PID controller object
Quote:
Originally Posted by Kruuzr View Post
Hi Brad...

This approach works great if your source is already pre-defined to be a PID source, but what about the situation ( such as an autotracking turret) where the source value will be an X offset from the middle of the image? Do we have to derive a new PIDSource object and implement any/all needed functions? The effort is compounded by the fact that the image offset is a relative number and would be hard to relate to an absolute turret positioning value.

Steve C
I guess Steve was ahead of the game by a week or so. Did you get your question answered because I have the same one now? How do I make the X position from center of the camera a new PIDSource so that I can then PID my turret to the center of the image?

I am using the variable name horizontalDestination = par1.centered_mass_x_normalized which gives me a nice -1 to 1 for the position of the target on the camera from centered. How do I make horizontalDestination a PIDSource so that the PIDController will drive the turret motor until horizontalDestination = 0?
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