Commanding Speed in a Negative Number Results in Runaway

[Kingofl337]

Black Jags,
Firmware 89,
PID 2, .0001, 6

US Digital Kit Encoders 360cpr

I posted sample code on the 2010 beta site

[dyanoshak]

Hi Adam,

We were able to recreate what you're seeing on my setup here. After doing some testing we noticed that there is a small bug in the PID code that makes the reverse direction more sensitive to PID tuning.

Correct me if I'm wrong, but I bet you tuned your PID constants in the forward direction first, and then tried to move in reverse (I did the same thing). I would try tuning your PID in reverse first. It should be possible to tune in reverse, even with the bug.

I would try lowering P and possibly D and see if that helps tuning in the reverse direction. Once tuned in reverse, forward should work just as well.

We are currently working on a bug fix and the best plan of action on releasing an update if it is deemed necessary.

Thanks for your input and please keep me posted!

-David

[Kingofl337]

if FIRST doesn't want you to release an update, I'd be willing to test a beta version of the fix.

[dyanoshak]

There is new firmware that should fix this issue. Please see this thread: http://www.chiefdelphi.com/forums/sh...852#post938852

-David