Speed PID Function

[vamfun]

It has been a while since I looked at the JAG cpp ... what is the actual limit they impose? The WPILIB PID integrator limits are ok.

Also, since I have been nursing a cold over the weekend, I decided to expand a little more on the PID loop driving a torque controller. This is a subcase of the PID with feedforward but it has a nice topology that allows direct control of torque. This is basically the back emf approach discussed earlier in this thread. I wanted to show a method for precalculating PID gains in this case.

Note: Velocity PID loop driving a torque input


I also cleaned up the velocity control loop figure and added a few comments to my last notes. The addiditons are mostly highlighted in color.