Hello all, my team has been wanting more control so we decided to switch over to PROS and specifically LemLib. When going to tune the PIDs, what should I be changing the kD by each time? No matter how much I’ve changed it, I cannot for the life of me get it to stop oscillating. Thanks for any help!
Assuming you tuned kP first, you should change it by like 1 each time. When you get close to where you want it though then +/- .5 would probably get you good enough. Make sure kP isn’t too high too.
Ah, thanks. I was trying to tune the p with d disabled too but, even at really low p values it would still oscillate. Would you happen to have any insight on that?
Could you maybe post a video? I know my drive PID had like 6,1,13 as the constants I think. For my lady brown I have just 3 for kP.
It can still oscillate a little after running kP, kD dampens that. You just don’t want kP too high so that kD cannot dampen oscillations.