Talon SRX Position PID Control Issue

[cbf]

We use the Talon in a similar manner to control our up/down elevator. By default, it's set to hold the elevator in place. But we also have manual joystick control (actually the triggers on an Xbox controller). We do have a small problem when switching from manual control (which is %VBus mode) to PID loop control -- the elevator falls a little bit before the PID loop takes control. But for us that seems to be because by the time we sample the position with GetEncoderPos, the elevator has already started falling (couldn't be more than 20 ms later). But we were surprised at how much it falls, so it could be we're experiencing something similar to what you're seeing.

Note -- we don't store the profiles in the Talon. We were concerned about storing the profile in the Talon in case we had to swap one out. So we just set them in code every time we enter kPosition mode.

We also are only using the "P" value. Didn't have time to tune the rest.