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Re: Velocity PID(F) Best Practices - To Integrate, or Not To Integrate?
Quote:
Originally Posted by Jared Russell
Note that the Talon SRX does velocity filtering for you (IIRC a 64-tap FIR filter, where each value is the change in position over the preceding 100 milliseconds, and the filter is updated at 1KHz).
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Out of curiosity, what does the window function look like? Flat moving average, or?
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Member, FRC Team 449: 2007-2010
Drive Mechanics Lead, FRC Team 449: 2009-2010
Alumnus/Technical Mentor, FRC Team 449: 2010-Present
Lead Technical Mentor, FRC Team 4464: 2012-2015
Technical Mentor, FRC Team 5830: 2015-2016
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There can be only one.... - Koko Ed [more] 
11-12-2016, 17:49
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