Quote:
Originally Posted by PhilBot
1629 is still tweaking. Something that annoys me about our code is that I run a pid loop for the wheels (in periodic tasks) and during the disabled period, any latent movement causes the pid to burp when restarted.
Wondering the best way to reset the pids and ramp functions during disable.
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One thing I would consider is using the reinitialize input of the PID Control Input Filter.vi and PID.VI itself. You could use a global to send an enabled boolean from the main loop which is true when teleop is enabled and false when disabled. Or,
As an aside, and for all of the people asking about Joystick Functions: there is a fantastic function inside the OpenG Library called Boolean Trigger. It will output a momentary boolean high when the input value has a rising (and/or falling edge) which makes trapping a change of state a lot easier.
Naturally (
) I have a TipJar entry discussing the OpenG library and how to install it:
http://www.lvmastery.com/TipJar2008-03-13
Ben