A backport of the upcoming (in 2020) WPILib PIDController.
Project description
wpilib-controller
A backport of the upcoming (in 2020) WPILib PIDController.
This is a backport of wpilibsuite/allwpilib#1300, which is planned to be merged for the 2020 season, for RobotPy.
@calcmogul has some in-progress docs on this.
Note that if you are moving from the old WPILib PIDController, your PID constants will need to change, as it did not consider the discretization period:
- divide your Ki gain by 0.05, and
- multiply your Kd gain by 0.05,
- where 0.05 is the original default period (use the period you used otherwise).
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