To help improve the control-ability of the arm, we could transition from using a position PID loop on the spark max to using the ProfiledPIDController available in WPILib. This would allow us to set maximum velocity and acceleration to make movement smoother while increasing the P/I/D constants to have faster response and better position holding.
To help improve the control-ability of the arm, we could transition from using a position PID loop on the spark max to using the
ProfiledPIDControlleravailable in WPILib. This would allow us to set maximum velocity and acceleration to make movement smoother while increasing the P/I/D constants to have faster response and better position holding.