Use absolute error for displacement PID

thedropbears / pystronghold

Python control code for 2016 FRC - Stronghold

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Use absolute error for displacement PID #41

Closed james-ward closed 8 years ago

james-ward commented 8 years ago

At the moment the displacement PID loop is using percentage error, but this is percentage of the input range - which is huge for us because we take a range of +/-10m. We need to switch to absolute error (in metres) - it cost us autonomous shots in Hawaii!

james-ward commented 8 years ago

Closed in Arthur's patch-bomb :-P b9de68523340815172df0632ed2f271217c00199