Closed andrewgazelka closed 6 years ago
Solution: Tune your PID better. You can call in a PID expert (Isaac A.) or use the Ziegler-Nichols method of tuning PID.
@ritikmishra Solution: cry because PID expert Randall Maas says it is a Phoenix issue.
Basically, if there are oscillations around a certain value that is not the target, that means something is really weird.
Fixed
When using PID for tuning wheel velocity, the velocities always oscillate at a value too small. For example, at the target speed of 1 RPM, the wheels actually go at ~.75 RPM (this proportion is not constant at different speeds).