Hey, so I’m trying to tune a Flywheel PID loop. It uses two Falcons with no gear reductions. I’m trying to tune the P value until it gets to approximately the right value, then use Ziegler-Nichols to get the I and D values. I’m trying to get the encoder velocity to 10000. The problem is, past a P value of 0.00002, it oscillates violiently, but at that value the encoder velocity only moves to 2000. One thing I tried doing was using the Phoenix Ramping feature to make sure it wouldn’t immediately shoot super fast, but it did little to abate the oscillation. How do I go from here?
I and D are currently 0 btw.