{ double kP = 1.2432; // kP (scaling number) int x = 0; // Timer for exit condition while (true) { double error = target - Inertial21.rotation(deg); // error = (target - current) set_tank(error * kP, -error * kP); // Set motors to (error * kP) Controller1.Screen.clearScreen(); C…

I don’t feel my response from earlier was satisfactory, so I’m going to try to redeem myself here. [image] Unionjackjz: I find that 0 is pretty consistent because at the end of the motion the motors will be exactly 0. This exiting is generally more consistent because it will timeout if someth…

I’m guessing the issue is that you only start to increment x if your wheels are spinning EXACTLY at 0. Because your error is rarely going to be exactly at 0, your velocity will likely never reach 0 as well. A simple fix for this would be replacing the 0 with a very small number and using an inequali…

I tried this but the turn no longer finishes now. For example if i tell it to turn 90 it turns 16 and stops. Still does not move onto the next part of the code.

Hi, this example code is from my vexcode tutorials. I find that 0 is pretty consistent because at the end of the motion the motors will be exactly 0. This exiting is generally more consistent because it will timeout if something unexpected happens, and will still continue even if you’re not quite …

Exit Statement for a P loop?

Programming Support

weilin February 2, 2022, 8:32am 6

Depending on whether you drive on the flat surface or try to climb the platform you may need to use I and D components later. You may check out several good discussions about exit conditions for PID loops from before: