Tuning PID Constants Over a Range

[Caleb Sykes]

Originally Posted by botster

Our team is trying to impliment PID for autonomous driving/turning, however we are struggling on tuning the constants. We have been using 1114's suggested method of tuning kP, kD, then kI, and we have been successful for tuning a single value.

For example we can tune gyroTurn(5) to turn 5 degrees, but those constants don't work for gyroTurn(25). Are we doing something wrong? or are we supposed to create different sets of constants for ranges of the angle?

Do you have a maximum velocity (or throttle) limitation in your code? If not, the constants used for 5 degree turns will likely cause substantial overshoot for 25 degree turns.