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applepi-2067 / 2023_Robot

Code for 2067's 2023 Robot
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Pid for arm tuning #144

Closed CJc318 closed 1 year ago

CJc318 commented 1 year ago

Description

tuned the pid control for the arm

Please include a summary of the changes -- include relevant motivation and context.

Type of change

How Has This Been Tested?

tested by me using the op controller

Please describe the tests that you ran to verify your changes. Please also list any relevant details for your test configuration. Identify any new potential hazards or risks introduced.

Author Checklist:

jcorcoran commented 1 year ago

What's the end goal with modifying the P term only?

I.e. What motivated the change?

amoscao commented 1 year ago

Some recent “enhancements” have resulted in the arm not reaching the setpoint in the high scoring position. The likely cause is the spring that is pulling the arm back is now causing steady state error. We did not have time to debug why changing I zone did not have the intended effect. Increasing p appears to resolve the issue.

On Wed, Mar 22, 2023 at 8:30 PM James @.***> wrote:

What's the end goal with modifying the P term only?

I.e. What motivated the change?

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