I have a private message from Matt Krass from a very long time ago that seems to apply here:
Quote:
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Originally Posted by Matt Krass
How are you tuning your PID? The proper method is to tune P until you have a constant, minor oscillation that's stable, and then increase I until it stabilizes, then start to oscillate again, and then turn up D until it stabilizes. Tweak and tune as necessary, YMMV
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I personally have never used D. I gave up working on the mental gymnastics to make it work on our non-floating-point controller last year, and haven't done much at all with the cRIO. These young whipper-snappers...when I was your age, we had to use fixed-point math, and walk uphill--both ways--to the competition field...
I'm sure someone a bit more qualified to answer will see this post later today, and you will get a collection of responses better-constructed and -advised than mine.
Good luck,
Jacob