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PID Loop Constants
I was browsing through the WPILib guide on PID Subsystems and I came upon this sample code:
public class Wrist extends PIDSubsystem { // This system extends PIDSubsystem Victor motor = RobotMap.wristMotor; AnalogInput pot = RobotMap.wristPot(); public Wrist() { super("Wrist", 2.0, 0.0, 0.0);// The constructor passes a name for the subsystem and the P, I and D constants that are used when computing the motor output setAbsoluteTolerance(0.05); getPIDController().setContinuous(false); } I'm not sure why the code is setting the I and D constants to 0. Is it to only make it a P loop? Are there any benefits of using only P over PID? |
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