I’ve been trying to use the CANJaguar class with PID control, but due to a lack of examples and documentation it has been a lot of guess and check work. I have successfully created a CANJaguar object and correctly configured it to the point where I could get encoder feed back. However I have run into a bit of trouble trying to use PID Control with the robot.
My problem is that even after setting a setpoint value using setX(x), the driveTrain wheel fail to move. Testing shows that the method getX() returns a value of zero. What’s wrong? If anyone knows anything about the topic any information would be very helpful.
Agreed you must switch to kSpeed. You will need different P I D numbers when you switch to kSpeed. For tuning speed mode, start with the I number (not P as you would for kPosition). Once you have an I you like, you can ramp up P to tame minor oscillations. Always set D to zero in speed mode. There are several posts which give more details on tuning CANJaguar kSpeed controllers.