blog; Motor Controller Options for 2015

[Jared Russell]

Originally Posted by Ether

Has anyone been able to find any details about the algorithm used for the built-in PID in the Talon SRX? Is it strict PID, or does it have, for example, user-selectable feedforward etc.

I would love to see a velocity PID loop with:

Selectable Frequency (though a fixed rate would be fine if it is fast enough)
User tunable P, I, D gains
User tunable Feedforward gain
User tunable Forward/reverse stiction compensation
User tunable Maximum output cap
User tunable Maximum integrator output
VERY IMPORTANT: Slave mode so that a single sensor can be used to control a multi-motor, multi-Talon mechanism (like the drivetrain). It was never really clear how to do this with Jaguars.

I do not think I would ever run a position control loop on the speed controller, but I can envision making heavy use of velocity control.