[Tom Line]

Tom, thanks for the explanation, and that does make sense. However, the integral and the derivative (at least in my experience) are not needed on our robots 90% of the time. Since my team has never really needed to use them, then it sounds like we've never really hurt ourselves keeping the P portion of the PID in the normal loop.

However, if we ever work into the I and D section (and we might a bit this year), I'll start putting them in the "go fast" portion of the code.

Thanks!

Edit: On a side note, one of the really nice parts of the IFI system was that you had to program your own PID and understand how they worked. I made my team go through this year and use whitepapers to write their own PID code. It's always good to know what's under the hood of your robot!

Second note: This would be an Excellent EXCELLENT discussion to have at nationals and put a whitepaper here on chiefdelphi. Update rates of sensors, loops, and processing rate of code all tied together is something that simply doesn't get addressed very often.