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
p	kP Gain	Y	Proportional Gain for the PID.
i	kI Gain	Y	Integral Gain for the PID.
d	kD Gain	Y	Derivative Gain for the PID.
f	Number	N	Feedforward for the PID.
iz	Number	N	Integral zone for the integrator of the PID.
output	Range	N	The output range for the PID.

Range

Name	Units	Required	Description
min	Number	N	The minimum value in the PID range. Defaults to -1.
max	Number	N	The maximum value in the PID range. Defaults to 1.