Tuning PID Constants Over a Range

[wesleyac]

Originally Posted by thatprogrammer

1. Is there an advantage to using a motion profile with a constantly changing set-point? Obviously, the advantage of a motion profile is that you can travel over a pre-calculated path in a fairly efficient manner. How does this translate if you are dynamically adjusting your set point, resulting in the roboRIO being required to generate a new set point dynamically?

The RoboRIO has the power required to calculate motion profiles on-the-fly. In fact, despite not having any changing setpoints last year, we still did trapezoidal motion profiling largely on-the-fly.

Also, with regards to the advantages of motion profiling, we found that one of the main advantages was making the movement smoother - it would slow to a stop, which is much gentler on the mechanism and makes it easier to control, as the loop doesn't need to suddenly stop - instead, the profile is responsible for coming to a slow stop.