We are trying to run a closed loop system on our Vertical shooter using PID controllers. I’m struggling to tune in the PID values for it. Currently we are using the F and P gains but just can’t seen to get it work. I’ve tried just changing the values in the code then I attempted to tune them using the Spark Max Cliant. Anyone know the best way to tune these values in or am I doing this completely incorrectly? Any suggestions?
I would recommend using the frc characterization tool
You just need to select the “Single motor” option and you will be able to tune the flywheel
Are you trying for position control ore velocity control? Velocity contros is much simpler.
The manual way - Zero your F and P and make sure there is no response from the motor (our team has had with the wrong parameters). Once you onfirm you are adjusting the right set of parameters, you are ready to set F. Some of the terms can be really small, like 0.0001 or smaller. Graph your velocity while you tweak try various F values. Start small and you’ll see the motor never gets to the target velocity. Keep increasing F until the velocity starts to oscillate. Then drop your F back down (a little). You can then add some P term to reduce the velocity error. Tweaking I and D come next and vary per application.
We are trying to use velocity control
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