YAGSL
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  • Fundamentals
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  • Bringing up swerve
    • Preface
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    • Check your gyroscope
    • Check your motors
    • Creating your first configuration
  • Configuring YAGSL
    • Getting to know your robot
      • Gear Ratio
    • Dependency Installation
    • Configuration
      • Swerve Drive Configuration
      • Physical Properties Configuration
      • PIDF Properties Configuration
        • PIDF
      • Swerve Module Configuration
      • Controller Properties Configuration
      • Device Configuration
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    • Standard Conversion Factors
    • How to tune PIDF
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  1. Configuring YAGSL
  2. Configuration
  3. PIDF Properties Configuration

PIDF

PreviousPIDF Properties ConfigurationNextSwerve Module Configuration

Last updated 3 months ago

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PIDF Configuration

The PIDF configurations map 1:1 with 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

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.

PIDFConfig
Range