PIDF
PIDF Configuration
The PIDF configurations map 1:1 with PIDFConfig
which stores information regarding the PID or PIDF configurations for the robot, such as module velocity & position, and robot heading. Not every parameter is used on every PIDF configuration. For example heading
only takes into account the PID.
Fields
A 0
in any place basically disables that portion of the PIDF.
Name | Units | Required | Description |
---|---|---|---|
| kP Gain | Y | Proportional Gain for the PID. |
| kI Gain | Y | Integral Gain for the PID. |
| kD Gain | Y | Derivative Gain for the PID. |
| Number | N | Feedforward for the PID. |
| Number | N | Integral zone for the integrator of the PID. |
| N | The output range for the PID. |
Range
Name | Units | Required | Description |
---|---|---|---|
| Number | N | The minimum value in the PID range. Defaults to |
| Number | N | The maximum value in the PID range. Defaults to |
Last updated