can i get some help understanding PID

[inkspell4]

So my team is thinking about transferring to CAN for our Jaguars and I don't understand the PID loops can I get some help please

[DonRotolo]

You can search ChiefDelphi.

Like this thread, or this thread, and there's even a paper called "PID without a PhD" you might look for ...

[inkspell4]

What Values have you found to work the best

[Andrew Schreiber]

Originally Posted by inkspell4

What Values have you found to work the best

4


That is dependent on the system you are controlling. Play with some values and see what works best for you.

[inkspell4]

For Which P,I, or D.
We are using jaguars to control cim motors and also how might you hook up a encoder directly into the jaguar for use with the pid loop

[juchong]

I think you're assuming that the PID values control only the motor output. In reality, these values are used to control an entire system. One person's kitbot transmission may be different from someone else's which would mean that their values will be different. You have to sit down and tune your robot to how you think it responds better.

The P, I and D will all cause the robot to behave differently. I can recommend as a general rule of thumb to try a value < 1 for I and something around 20~30 for P (I'm not exactly sure on this value). Leave the D at 0 until you tune these.

You should definitely read the document mentioned above in order to understand what each value does to the system. Only then will you be able to see what it does and how it reacts.

[Ether]

Originally Posted by inkspell4

how might you hook up a encoder directly into the jaguar for use with the pid loop

See attachments.

[juchong]

Ether is correct, that's exactly how we've been connecting our encoders for years! Also, keep in mind that if you want to use the built in PID features of the JAGs, you're going to have to implement the CAN Bus. You won't be able to use PWM anymore.

[mbushroe]

HOW do we control the Jaguar digitally from the cRIO? I am still looking for the C++ API that will allow us to use the serial interface to format and send commands to the Jaguar, and read the status data sent back.

Mike

[Alan Anderson]

Originally Posted by mbushroe

I am still looking for the C++ API that will allow us to use the serial interface to format and send commands to the Jaguar, and read the status data sent back.

Look into the CANJaguar class.