Good afternoon everyone! My FRC team has some questions about the PID configuration on a Swerve MK4i. Could someone help us with what numbers should be set? Thanks in advance for your help.
It will depend on what motor types you are using.
For angles :
Falcon/Kraken ( kP = 100, kI = 0, kD = 0)
Neo/Vortex ( kP = 0.01, kI = 0, kD = 0)
For Drive :
Falcon/Kraken/Neo/Vortex ( kP = 0.05, kI = 0, kD = 0,kF = 0.00)
These are an starting point and should be plugged in initially then fine tuned.
Here is an helpful video no how to tune , it wont match your case exactly ( software he is using and module hardware ) but apply the concepts spoken of to your setup :
