Hey there, so basically I made a PID loop for our autonomous (it’s more of a P loop but yeah), and it is working like it should it’s going to the actual value but the only problem is that at the end it slows down a lot and it takes a lot of time to get to the right value. At the start, it goes fast and then slows down when it gets closer to the set value
I was wondering what value I should change/add to make the end go faster but still go at the right value
anyway thank you 
P says “the further I am away from where I want to be,the harder I try.” So as you get close it doesn’t try very hard. Think about a robot that needs to work hard to turn. As it gets close to where it is going, P isn’t going to try very hard. Think about your robot when you drive it. Is it a quick turner? I’m guessing no.
A proprtional controller is just this. Effort proportions to error. You can turn up the P until you get overshoot. You can then tone it down a little or go to a PD controller to help with stopping. The P controller doesn’t care much about sample rate, but once you add D or I, sample rates matter.
I don’t use the PD until i get 5 inches or 10 degrees from my desired value (error decides which direction to go) and I use the abs(error) to figure that out. I recommend not using PD or PID for all of your distance just for the last bit as I have found this faster and still accurate and if you are still having issues
this is really interesting ill try later to tune my KD and ill tell you what will have happen after that thank you!
