Thread scheduler for PID period control ?

[Joe Johnson]

I am not sure why but the autogenerated code from RobotBuilder does not include the feed forward gain, Kf, and the loop period, so they default to 0 and 50ms.

Here is a code snippet:
public Launch() {
super("Launch", Kp, Ki, Kd, Kf, 0.01);

Note that we had 0.005 as the period at first and it was acting squirrely. I think we were having the PID loop take too much of the CPU time. When we backed off to 10ms, life was good.

YMMV.

Joe J.

[tinybob20]

Hi,

we tried using the getFPGATimestamp() instead of the basic .get(), and we were able to get values around 11 - 16 ms for our timed PID loop with the scheduler set to 10ms.

in teleopPeriodic we got values around 21 - 23 ms.