Calibrating velocity gains for a SparkMax with built-in PID

[Strflightmight]

How do I calibrate the velocity gains for a SparkMax with built-in PID? Right now when I change the P or I values, It fluctuates between the positive of the target velocity and the negative target velocity.

[Oblarg]

What motor are you using?

[Strflightmight]

We are using a Neo

[Nummun14]

(post deleted by author)

[Hollisms]

Finally I Understand PID!

P: if you’re not where you want to be, get there. I: if you haven’t been where you want to be for a long time, get there faster D: if you’re getting close to where you want to be, slow down. (found in the description of this video: https://www.youtube.com/watch?v=qKy98Cbcltw)

[Strflightmight]

I know what PID does but there is a problem with it whenever I change the corresponding values.

@Strflightmight

It fluctuates between the positive of the target velocity and the negative target velocity.

[Oblarg]

With a NEO 1.1 you need an external encoder to do meaningful velocity feedback.

[Strflightmight]

How do I know what version the NEO is?

[Oblarg]

If it’s not a NEO vortex, you’ll need an external controller to do effective velocity control.

See: PSA: Default NEO/SparkMax velocity readings are still bad for flywheels

[Xolverr]

Based on your description, I’m assuming it does this: spins up to right speed, then starts going the opposite direction but still correct speed. Try setting the PID reference using the REV Hardware Client and see if it follows the same behavior. If it responds how it should however, I’d be willing to take a look at your robot code and seeing if something is being flipped.