[Gary Bonner]

The 2010 FRC Vision Whitepaper discusses tuning the PID in the example code. The document first discusses the parallel PID formula, which has separate gains for P, I, & D, and the academic formula, which Labview uses, and which has only one gain. The coefficients of the I & D terms are time periods. The paper then discusses tuning the P, I, & D gains. Do they mean the periods for I & D? Also, when tuning the P term, the I & D terms are to be set to 0. For the I term, since the period is in the denominator, should it be set to a large value to zero out the term? How large? Or is there another way to zero out the terms?

Thanks!