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 I don't know how much of a safety factor chain manufacturers build into these ratings. I've got empirical evidence to demonstrate that it's not 5, however. - Tristan Lall [more] |
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Re: PID programming help
Look at the crab speed class in our code from last year. I think it does what you are looking for. Crates a generic class that he PIDController will write to that you can get with something else.
https://github.com/FRCTeam16/TMW2014 
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