For a drivetrain, should you use PI, PD, full PID, or just a P controller?
we use PID because we use it everywhere else (non-vex) and find it a good habit, as long as you can stay accurate it doesn’t matter though
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Just PD is most common for drives. Just P for something like your lady brown control (to extend to a lift or maybe a more aggressive/heavy lady brown you might need D to dampened oscillations caused by inertia). I use PID for drives personally just to cover more conditions. I usually use I for distances outside of my tuning range with antiwindup range to prevent overshoot.
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