Getting PID Gains to put in the OkapiLib Gains

Programming Support PROS Support
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#1

Hello,

In OkapiLib, in order to use the PID feature of the Chassis Controller, you need to specify gains with the withGains method in the builder.

std::shared_ptr<OdomChassisController> chassis = ChassisControllerBuilder()
    .withMotors(20, -11, -12, 19) // left motor is 1, right motor is 2 (reversed)
    .withGains(
        {0.001, 0, 0.0001}, // Distance controller gains
        {0.001, 0, 0.0001}, // Turn controller gains
        {0.001, 0, 0.0001}  // Angle controller gains (helps drive straight)
    )
    // green gearset, 4 inch wheel diameter, 11.5 inch wheelbase
    .withDimensions(AbstractMotor::gearset::green, {{4_in, 15.75_in}, imev5GreenTPR})
    .withOdometry() // use the same scales as the chassis (above)
    .buildOdometry(); // build an odometry chassis`

Where can I get these gains from? Or how do I measure them?

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#2

Afaik, you tune the gains yourself with little more then trial and error.

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#3

So do I just put random numbers until it drives the right distance & turns the right amount?

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#4

Thats… certainly one way to do it.

But there are other and better (I think) ways to tune a PID controller:

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