Tuning PID Constants Over a Range

[Andrew Schreiber]

Originally Posted by Jared Russell

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)

Are you saying for heading changes, let's assume turn in place, you'd suggest figuring out how far the wheels need to turn and then just position PID them (with or without motion profile) ?