For some time I have been trying to develop a PID. I took a look at @anon4126930 ’s video on how to make one. I understand some parts of it, but cannot seem to get it working in autonomous. If someone could tell me what’s wrong with the code, and maybe help me a little with the changes, that would be…

The PID code needs a few updates but looks like it will mostly work so you just need to get the order of operation correct. One thing is set turnKp to 0.0 so you are only debugging drviePID. The order for the PID task is int drivePID() { // this is the task // put l…

Check here to see if I’ve already answer it. [image] VexCode PID help VEXcode Pro V5 Text Tech Support Hey guys, now that worlds is cancelled, along with school and sports, I have a bit of free time. I’m not an incredibly experienced programmer, as you are about to see, bu…

Hello, I have looked at that thread and I have a few questions. What does Clamping do exactly? I don’t really understand much about the derivative value in a PID I tried copy/pasting some of the sample code from the other forum to see if it would work, but I keep getting errors in my code. The er…

Clamping prevents the integral term from getting much larger than the max value of the motor voltage. Also if you are going to use the turn part of the PID then you also need to clamp the output of the first drive PID so that it doesn’t get to say 40. And then you are getting a turn output of 3 …

Okay, so when I started the program the wheels just spun super fast, then changed directions many times very fast.

double kP = 12; // Error double kI = 12; // Last, Increase Precision double kD = 12; // To Fast or Too Slow these values are way to large. start small with kP first slowing increasing it until it gets to your target reasonable fast. for tuning look up Ziegler-Nichols method double kP = 0.02; //…

targetValue and targetTurnValue have to be the return types of what? LeftMotor.position() or RightMotor.position() and where would I put it? Sorry Im kind of new to text code.

you have them declared as int, they need to be double. in your posted code // Auton Settings int targetValue = 200; int targetTurnValue = 0; and int leftMotorPosition = LeftMotor.position(degrees); int rightMotorPosition = RightMotor.position(degrees); from the API: ◆ position() doub…

Okay the wheels are still moving fast and changing directions sporadically. Here is the updated code. // // P - Proportional ( Like P-Control ) // // I - Integral ( ) // // D - Derivative ( ) // // #include "vex.h" using namespace vex; // A global instance of competition competition Competition…

You still need to fix #1 (task sleep) and #2 put PID code inside if (enableDrivePID) { from my prior post. I’m not sure what starting a task in a while loop does but I’m pretty sure you should not be doing that. Start the PID task in main(). This way it is available before Autonomous (for when you…

Ok so I put the PID code inside the if enableDrivePID statement. Where do I put the if statement in? A while loop? // Settings double kP = 0.01; // Error double kI = 0.0; // Last, Increase Precision double kD = 0.0; // To Fast or Too Slow double turnkP = 0.1; double turnkI = 0.00; double turnkD =…

Still having PID trouble

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rpm March 24, 2020, 5:07am 2

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