How do you do PID for launcher flexwheel?

I’ve asked a lot of experienced teams and they all said they used PID for their flexwheel(making it more consistent). Can someone tell me how PID works and how I can use it?

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Document made by a former VEX competitor, pretty much the starting place for everyone in VRC doing PID and will certainly explain better than I can. PID is just a closed loop, using sensor data to reduce expected error.

this is also a good explanation of how PID works in real world applications, starting at 53:17

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