periodic tasks in autonomous independent

[billbo911]

Originally Posted by Vikesrock

Which reminds me of an example of how it can be a bad thing (or rather something you have to be careful of). A PID loop with an I component located in Periodic Tasks will continue to accumulate error while the robot is in Disabled Mode. If you are thinking of putting such a loop there make sure you initialize it when coming out of disabled.

Hmmm, sounds like the voice of experience.

There are a couple of techniques that I know of, there may be more, to prevent or minimize "Integrator Spin Up".

One way is to hold the "Ki" to zero until the robot is enabled, then set it to the calibrated value once enabled. Another approach is to limit how much "Spin Up" is acceptable. Although, this method might limit the "Ki" value so that it is less effective when enabled.