For ITZ I want to have pid on my DR4B, that being said I’m having 2 motors on each side of the lift, and a potentiometer on both side. I have been starting on pid lately and can figure out a simple p loop, but the problem is the integral and derivative, im having trouble putting them into my code. I do best with sample codes and have LOOKED all over the internet for pid loops but I can’t seem to fit any into my code or adapt any to my code. Can someone help PLZ!!!
https://vexforum.com/t/the-fabled-pid/44119/1
This thread has many links to other sources for documentation and explanation. Additionally, the (current) last post has a link to sample robot-c code.