Closed Shalmezad closed 4 years ago
Assigning to @KollinBartz as he took care of the original intake code in #3.
A PID allows you to either accurately go to a distance (distance control), or maintain a specific speed (speed control).
Using speed control will be useful on the intake, as it will give the intake more power to overcome issues should a ball get stuck.
WPILib has some docs detailing what a PID is, and the math behind it.
Additionally, there's some usable code available from a nearby team you can borrow. As we're using a TalonSRX for the intake, we can take advantage of using the SRX's built in PID controller like that code is doing.
Assigning to @KollinBartz as he took care of the original intake code in #3.
A PID allows you to either accurately go to a distance (distance control), or maintain a specific speed (speed control).
Using speed control will be useful on the intake, as it will give the intake more power to overcome issues should a ball get stuck.
WPILib has some docs detailing what a PID is, and the math behind it.
Additionally, there's some usable code available from a nearby team you can borrow. As we're using a TalonSRX for the intake, we can take advantage of using the SRX's built in PID controller like that code is doing.