PIDF Properties Configuration

Swerve Module PID Configuration (modules/pidfpropreties.json)

This file configures the PIDF values with integral zone and maximum output of the drive and motor modules for every swerve module. It maps 1:1 to PIDFPropertiesJson and is used while initializing the SwerveDriveConfiguration object.

TalonFX/Kraken/Falcon angle motors require a high PID (around ~50 kP, and ~0.32 kD).

Fields

Name	Units	Required	Description
drive	PIDF with Integral Zone and Output limit	Y	The configuration which will be used for the PIDF on the drive motor.
angle	PIDF with Integral Zone and Output limit	Y	The configuration which will be used for the PIDF on the angle motor.

Example Configuration File

{
  "drive": {
    "p": 0.0020645,
    "i": 0,
    "d": 0,
    "f": 0,
    "iz": 0
  },
  "angle": {
    "p": 0.01,
    "i": 0,
    "d": 0,
    "f": 0,
    "iz": 0
  }
}

How to tune PIDF