How to tune Ki?

Okay, brand new to pid control loops, I understand Kp and Kd tuning, but the concept of Ki seems impractical for vex. should I just get rid of Ki entirely and do a PD loop? Or should I take the time learn and understand Ki and tune it? and if so what should I be looking for whilst tuning Ki

Does your PD loop provide results you like? If so, no reason to add complexity for no discernible benefit. Time is a precious resource, spend it on what brings the most value. If that’s telling judges the story of how to tune I, great. If you have it “good enough” and can tackle some other aspect, leave I tuning and go for that.


this is a very reasonable response, thank you actually

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