I am working on tuning the PID loop for our drive base during auto which just uses the built in motion profiling. I tuned the F Gain on blocks to be just under our target speed. Upon trying to tune my P Gain though, I found that adding to my P Gain ended up reducing the output speed. I can’t seem to figure out why this is since my F Gain was undershooting the target so it seems to make sense that the P Gain would cause the speed to increase. I also attempted to output the error to the SmartDashboard and it was showing a positive error too. Another confusing thing is that I attempted to make my F Gain overshoot the target speed on its own and the P Gain, even when incredibly small, still reduced the output speed by a large amount with a negative error. The drive encoder values are increasing and the lights on motors on our drivetrain are blinking green. Does anyone know why this could be happening and how to fix it? We are coding in Java and using the Falcon 500s.
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We have noticed the same oddity. However, if you continue to add p it will begin to act like you expect. Try higher p values.
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Like Tom said, more P should have helped. Some of these values are really small, so it easily to delete or add a zero if you aren’t careful. Try it again.
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