hi i am trying to use the pid controller of the TalonFX in order to control the kraken’s velocity, ihave written some code just to test the pid loop itself just to make sure i understand it before implementing it in the swerve code.
i have followed the documentation and wrote this:
TalonFX a = new TalonFX(10);
var slot0Configs = new Slot0Configs();
slot0Configs.kP = 0.3;
slot0Configs.kI = 0;
slot0Configs.kD = 0;
slot0Configs.kS = 0;
a.getConfigurator().apply(slot0Configs);
a.setControl(new VelocityVoltage(1));
and im having a weird issue while trying to calibrate it - it seems like it doesnt try to reach the setpoint i have set up. it oscillates around 0.75 instead of 1.
i feel like im missing something, could somebody explain?