Howdy y’all,
My team has been using PID for a while this season, but we’ve never fully tuned both PID controllers for Lemlib. We’ve always tuned angular using the tutorial, but i’ve always had a more difficult time understanding the lateral PID tuning guide. Any suggestions on how we should tune our PID’s (preferably lateral but angular as well) going forward?
I just tune them the same way, just expect larger values for the lateral controller.
Also, is it viable to try and implement PID for an arm? i’m willing to try it, but i’ll need some advice on building a PID for that as well.
okay so for the Kp and Kd, you just use the same turnToHeading and follow the flowchart that was used for tuning angular PID?
Yep. Tune kP until small oscillations, kD to dampen those. Only use kI for little boosts for ranges of input where you have consistent miss at the end. You can definitely use a PID for a lift, same tuning process.
okay, but is it viable to use with just the motor encoder and a gear ratio? if not, i can look back into rotation sensor again I guess, but i was having major problems with it before.