Gyro and PIDController - Right/Left SetPoint

Technical Programming
1

Hi,

I’m using gyro sensor - ADXRS450_Gyro

For the PID I’m are using PIDController:
PIDController pidc = new PIDController(Kp, Ki, Kd, GYRO_OBJECT, MOTOR_OBJECT);

If I want to make a 90 degrees turn to the left, I understand that the right and left motors need to get the opposite values,

But I don’t know what an how to set the SetSetpoint value:
Right Motor: pidc.setSetpoint(?)
Left Motor: pidc.setSetpoint(?)

Thanks!

2

I think you can do:

motorLeft.setInverted(true);

To make the left side inverted, not sure if this will work, if not try using:

motorLeft.reverseOutput(true);

Just don’t forget to use the Follower mode with this solution.

If you want to use two pid contollers you can do:
Right Motor: pidc.setSetpoint(setPoint);
Left Motor: pidc.setSetpoint(-setPoint);

3

Thanks a lot! I will give it a try…