This is for VEX Code V5 Pro.
Does anyone know how I could convert joules into inches when using PID (I’m using JAR Template)
IDK if this helps but my drivetrain 6 motors and 61 inches per second.
I basically just want the PID function to drive to, lets say 20 inches
The energy supplied to the motor isn’t directly coupled to the motor in any way. Creating a conversion would break the any time the robot encounters different resistance. Which is all the time.
Using the motor’s built-in encoders or odometry converting that to inches and using degrees or rotation from an IMU are the standard as they are direct representations of the robot’s movement. So I don’t know why any well-made PID controller would be asking for volts.
Maybe it’s asking for a max voltage for the PID loop to limit speed.
Help this helps 
If you could show us the code that would help a lot.
*directly coupled to motor movement in any way.
Sorry for the mistake
Thanks I just figured it out anyway and its working great.
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