Velocity PID control and setpoint ramping

[Oblarg]

Originally Posted by MrNick

Are you using TalonSRX's with their built in PID control? If so, I highly recommend following the procedure for tuning PID in the Talon user guide. We have been doing things in a way similar to you (mostly P) and had similar results. Then we got the great advice to try things "by the book". That means starting with 0's all around for PID and upping the F, feed forward, term until you get the speed you expect based on your input. Then use PID to tune that. Drive is much smoother now.

We're not using the TalonSRX PID, we're handling it all using code available from the Command-based framework in WPILib.

Since we're using an integrator on our output, we can't really use the supported feedforward term. We could implement our own, but I'm not sure the lack of a feedforward term is what's causing problems.