Hey guys! I’ve seen a lot of posts relating to PID, how to get started, how to start/stop it, using it in functions vs. in tasks, reaching a value vs. holding a value, etc. One source that the 3946 robotics program has found very useful that I have yet to see posted on the forum is Wescott Design Service’s PID without a PHD. While not talking about VEX robotics, it lays out the foundation necessary to start coding your own PID. I hope this helps anyone looking for a deeper understanding for their own code writing!
It’s been linked before, but anything over about 2 years old is hard to find, it was referenced in this thread and others. But it’s a good article and well worth reading.
https://vexforum.com/t/simple-p-controller-for-arm-position/23699/1