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Re: NI Labview PID Encoder Feedback
You should be using the rate from the encoderget.vi as opposed to the distance. Additionally, the EncoderOpen.vi distance per tick should be calculated based off your encoder ticks/rotation divided by the circumference of your wheel. The NI PID provided does not work with rates, only distances. Because you are measuring a rate, the PID behaves differently. Distance I becomes Rate P; and Distance P becomes Rate D; Distance D becomes Rate D'. I have a custom PID from team 51, Wings of Fire, that allows you to use a rate PID, but I will have to ask them if it's okay to post here or give to you.
Hope I can help!
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4 year 2011 - 2014 FRC team 308 member, Lead Programmer - C++ / LabVIEW
3 year 2011, 2013, 2014 OCCRA member, Co-Captain OCCRA team 308 - OCCRA Engineering Excellence - Waterford Kettering 2013
- Innovation in Control - 2011
- Quality award- Northville 2012
- Engineering Excellence- Howell 2014
- Innovation in Controls- Livonia 2014
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25-01-2014, 16:21
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