I’m releasing the code I use for PID control. I had meant to clean this up a bit more and write some documentation before releasing but I never seem to get around to it so it’s “as is”. This library is a generic implementation of PID control, it is not aimed at anything specific and can use either…

I wanted to add two more points. This is ROBOTC only. Although this code simplifies adding PID control to your code it does not do anything to help you tune the PID constants, that’s the hard part.

How do I turn this into a speed control though?

PID library

VEX V5 General Discussion Technical Discussion

tabor473 January 31, 2016, 6:53pm 4

So this thread is roughly 3 years old. I would suggest starting with James’ thread about velocity PID.