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FIRST-Tech-Challenge / SkyStone

FTC SDK
https://www.firstinspires.org/robotics/ftc/what-is-first-tech-challenge
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Tuning PIDF #179

Open David10238 opened 4 years ago

David10238 commented 4 years ago

I want to tune our PIDF, but in order to do so easily I need to be able to empirically tune f. I don't know the units, so I can't do the math to calculate f from ticks per second or rotation per second of the motor.

gearsincorg commented 4 years ago

Internally, Max motor output power/voltage is defined as +/- 32767.

So the default value for F is 32767 / MAX Counts Per Second.

Soo... if the Max counts per second for the motor is 3600, F would nominally be = 9.1