Does anybody know of any good tutorials or explanations of how to use the PID Tuner? Specifically what the values mean (units?) and the execution of writing the code. Any help would be greatly appreciated.

The values are multipliers, how effective each part of the PID is. kP is the proportional multiplier, kI is the integral multiplier, and kD is the derivative multiplier. Not sure what kF is, but in the example code, they have it set to 0, so I doubt it’s essential to getting it to work. If you do…

See this. I would avoid adjusting the motor PID constants on V5 for the time being. [image] About V5 Smart Motor test PID use PROS PROS Support Using pros to test pid broke two motors, have you ever encountered this situation?Thank you very much. [15597104491914873272300…

I think the OP is referring to this. Which is about tuning user level pid loops not firmware level loops. (at least I think it is) https://pros.cs.purdue.edu/v5/okapi/api/control/util/pid-tuner.html

Just to be clear, if the constants are being multiplied by the encoder units, how does this then get translated into motor power?

Yes, sorry I forgot to specify that I was talking about the PID Tuner built-in to the Okapi Library.

I would not spend too much time with the okapi PID Tuner. While cool, it is mostly a proof-of-concept and not really practical. It is better to tune yourself, because then you can have the performance you want. If you want to understand what the values do, you need to read the paper linked in the…

I read the paper linked in the docs, and I think I understand what the constants mean, but, in the paper, there is no mention of what the specific values are for PROS. For example, in RobotC, the input was encoder ticks and the ouput was the motor power [-127, 127], but I don’t know what values PROS…

Its only setting the motor firmware’s internal PID (ie. set_pos_pid()) that can break the motor, as the motor has access to much higher refresh rates. That command should not be available as it is, without some protection. You should use the okapi PID controllers, or make your own. Both are user-b…

PROS PID Tuner

Programming Support PROS Support

jpearman June 6, 2019, 10:26pm 3

See this.
I would avoid adjusting the motor PID constants on V5 for the time being.