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Unread 06-02-2017, 23:55
leiba leiba is offline
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Talon SRX not taking PID values from program

We have a strange thing happening with our Talons SRX.

We have tuned the PIDF using the web config. Once we're happy with the values, we copy them to our program.

Inside our robotinit method, we create the CANTalon objects for each motor, then we:

- set the feedback device (quad encoder)
- set control mode (kspeed)
- set(0) just for safety
- set the config encoder codes per rev (20)

and since we have slave, we set the appropriate.

The problem is this: when our program runs, the talon show a strange behaviour, not running smoothly constantly stopping and starting.

This is fixed by changing any parameter of the PIDF from the web config while running. For example, if P = 0.1, just setting the P = 0.2 from the web config fixes the problem. It continues to work fine even if we set the original value back from the web config.

Any ideas?

Thanks,
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Unread 07-02-2017, 01:12
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Re: Talon SRX not taking PID values from program

Grab a self-test before and after and compare the results.

Also if the plugin isn't the latest (as of last Friday) some settings might be getting defaulted when you save a change in the web-based config. That might be why it's behavior changes.

Checkout section 21.27 in Talon SRX Software Reference Manual.
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Unread 07-02-2017, 07:07
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Re: Talon SRX not taking PID values from program

Thanks for the response.

We'll compare the self test values before and after.

I can't find a section 21.27 in the current software manual. Is that correct?
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Unread 07-02-2017, 12:20
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Re: Talon SRX not taking PID values from program

Yes. Page 151
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Unread 07-02-2017, 12:37
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Re: Talon SRX not taking PID values from program

Sorry, my browser was giving me a cache from the manual.

Thanks,
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Unread 08-02-2017, 09:03
leiba leiba is offline
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Re: Talon SRX not taking PID values from program

Found my problem.

The Talon were working fine, my problem was that the Allowable Error setting was too high, and so the PID was turning off.

Thanks,
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