Velocity PID control and setpoint ramping

[Oblarg]

Originally Posted by Pault

Inside of the execute method of the command running your drivetrain:

if(commandedSetpoint < some value that is close to 0) {
   yourSubsystem.getPIDController().setPID(small kP, kI, kD);
} else {
   yourSubsystem.getPIDController().setPID(normal kP, kI, kD);
}

Ah, didn't know there was a method to change the PID values after instantiating the object. Thanks! We'll give this a look, too.