CANJaguar PID tuning in Position mode

[Tanaythan]

Hi all,

This is our first year using CANbus and I was wondering how you guys tune your PID constants for Position mode. We figured out how to do so in Speed mode with our shooter, but the turret right now is a little bit trickier. We got the constants from BDC-COMM before, but the P value seemed a little too high. Our P value ended up being 150.0 with an I value of .4. For the hardware of the turret, we use an encoder with 360 ticks per revolution. Is this normal? If it is not, how do we tune it in position mode?