Tuning PID Constants Over a Range

[Caleb Sykes]

Originally Posted by botster

We clip our motor power at 0.7, but this would not be slow enough for smaller angles and if we clip the power lower, the larger turns would be slower than desired.

How fast are you trying to go on the large turns? What are you trying to accomplish that requires such a quick response? If you are doing something extremely difficult like a 2-ball auto, PID will likely not be sufficient on its own, and you will need to create better control loops using things like motion profiling.

While we're at it, the following information would be helpful:
What type of drivetrain do you have?
How many/which drive motors power the drivetrain?
What is the minimum throttle value which allows the robot to turn in place?
What is the maximum achievable angular velocity of the robot?