Position and velocity PIDControllers using same encoder

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Position and velocity PIDControllers using same encoder

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#13

12-26-2016, 04:54 PM

Joe Ross

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Re: Position and velocity PIDControllers using same encoder

Quote:

Originally Posted by Oblarg

Yeah, but you can't send the same encoder object to two separate PIDController objects and have it be a kRate source for one of them and kPosition source for another. Hence the wrapper idea, which is ugly but would probably work.

Here's a wrapper that 2485 wrote that does this.

https://github.com/team2485/frc-2016...dDistance.java

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