Tuning PID Constants Over a Range

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Tuning PID Constants Over a Range

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#16

28-09-2016, 14:32

Jared Russell Jared Russell is offline

Taking a year (mostly) off

FRC #0254 (The Cheesy Poofs), FRC #0341 (Miss Daisy)

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Re: Tuning PID Constants Over a Range

I agree that a motion profile + feedforward to overcome static friction can solve this problem adequately for FRC purposes. However, the Talon SRX makes precise 1KHz velocity control stupidly easy to achieve; hiding the stiction nonlinearity behind a Talon and using plain old position PID is just as workable a solution these days. (But is still improved by using a motion profile of course)

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