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PIDF
T Grinch edited this page Feb 27, 2023
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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 . |