|
Re: Velocity-based PID with the WPILib PIDController Class
Quote:
Originally Posted by Mr. Lim
Which in effect would give you an "I" term in your control loop, since I is essentially a scaled accumulation of error?
|
Yes, basically it is I without an accumulator variable to clear as you would with position servo. You are in fact integrating over time.
__________________
Mike Copioli
CTRE Hardware Engineer
http://www.ctr-electronics.com
Team 3539 The Byting Bull Dogs
2013 Michigan State Champions
Team 217 The Thunder Chickens
2006 World Champions
2008 World Champions
2009 Michigan State Champions
|