CTRE Falcon 500 velocity pid loop behaving unexpectantly

We’ve been trying to make a velocity PID loop for our shooter this year using two Falcon 500s. We can get the velocity pretty close to our setpoint using just a feed forward value and P, I, and D set to 0, but as soon as we try to close the gap using P, the velocity drops substantially, and we’re at a loss as to why. We’ve tried following this guide to calculate what the P and F values should be, but it still doesn’t behave how we expect it to.

Does anybody have any ideas about why this is happening?

What are your constants? What does your code look like? What velocity are you commanding?
My guess is that your target velocity is set incorrectly. F should be in the neighborhood of 0.05 for Falcons.

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