Tray P Control

VEX Robotics Competition Discussion VRC
5

That is not a P control, thats a bunch of if statements that also use VEX’s internal PID due to “setVelocity”.
If you want a P control do something along the lines of


double kP = 0.001;
int error = 0;
int targetValue = 900;

while(1==1){

error = TrayPusher.rotation(degrees) -  targetValue;

TrayPusher.spin( directionType::fwd, error * kP, voltageUnits::volt );

vex::task::sleep();
}

Using voltage would be better, so you have more control of how you operate the motor. You may need to switch things around so the P control loop works.

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