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PID crossing 0
I am right now working on "unicorn drive" code, and I almost have all of it done.
I have one question: as I understand, PID's never cross 0 and go back to the max. since the crab pods being rotated are coaxial, they can and should cross 0 to making turning faster; I already have a "shortest distance; flip the wheel speed and lose 180 degrees from the setpoint if the distance is over 180 degrees.
Is there an alternative to a PID that will let me cross 0 or a way to make the PID cross 0? or do i need to write my own algorithm to render that?
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Dean's List Semi-finalist 2010
1747 Harrison Boiler Robotics 2008-2010, 2783 Engineers of Tomorrow 2011, Event Volunteer 2012-current
DISCLAIMER: Any opinions/comments posted are solely my personal opinion and does not reflect the views/opinions of FIRST, IndianaFIRST, or any other organization.
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your time is better spent in the stands, watching what the robots actually do, as opposed to listening to the builders talk about what they're [I]supposed[/I] to do. - sanddrag [more] 
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