Velocity for PID Loop?

VEX V5 Technical Support UNOFFICIAL Tech Support
4

I did look at the code, not sure what additional advise I can give you beyond that which is being given in the many other threads discussing PID.

I do notice that your “velocity” is really the absolute encoder value and not velocity.


long GetVelocity ()
{
	return( nMotorEncoder FROne ] );
}

<<snip>>

velocity = GetVelocity();

velocity is proportional to the change in encoder count, not the absolute encoder count.