PIDF
T Grinch edited this page Feb 27, 2023
·
7 revisions
The PIDF configurations map 1:1
with PIDFConfig.java
which stores information regarding the PID or PIDF configurations for the robot, such as module
velocity & position, and robot heading. Not every parameter is used on every PIDF configuration. For
example heading only takes into account the PID.
A 0 in any place basically disables that portion of the PIDF.
| Name | Units | Required | Description |
|---|---|---|---|
| p | kP Gain | Y | Proportional Gain for the PID. |
| i | kI Gain | Y | Integral Gain for the PID. |
| d | kD Gain | Y | Derivative Gain for the PID. |
| f | Number | N | Feedforward for the PID. |
| iz | Number | N | Integral zone for the integrator of the PID. |
| output | Range | N | The output range for the PID. |
| Name | Units | Required | Description |
|---|---|---|---|
| min | Number | N | The minimum value in the PID range. Defaults to -1. |
| max | Number | N | The maximum value in the PID range. Defaults to 1. |