We’re using a PIDF controller for a flywheel shooter, which is mostly a feed forward term which we found by doing 1/empirical max speed. Our P term is 0.00000000000000000001, the F term is 1/5571, and we left I and D as zero.
We were confused about why there is such intense oscillation at the beginning of the routine even though the P value is extremely low. Thank you so much.
Does the oscillation disappear if you set P to zero? If not, then it’s not P doing it.
Try running the F term at zero, it seems like that might be causing the issue. Compare that to running without any pid at all and see if there is a major difference. You might also want to consider using the frc characterization tool for tuning, it makes the process quicker.
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