Drivetrain PID tuning - Chief Delphi

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Drivetrain PID tuning

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#23

28-12-2016, 14:30

ollien

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FRC #5202

Join Date: Feb 2015

Location: United States

Posts: 272

Re: Drivetrain PID tuning

Quote:

Originally Posted by ahartnet

Code:

Robot.drivetrain.arcadeDrive(DriveForwardSpeed, (Robot.drivetrain.getGyroAngle().getAngle()));

You might want/need to multiply the gyro angle by a Kp or -Kp. We actually ended up with the following:

Code:

Robot.drivetrain.arcadeDrive(-DriveForwardSpeed, (-(Robot.drivetrain.getGyroAngle().getAngle()) * Kp+.1));

How are you allowing the driver to adjust the robot's angle?

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