3145H's PID Starter

Code

lemlib::ControllerSettings lateral_controller(
    3.77,   // kP (proportional)
    0.0,             // kI (usually 0)
    7.07,   // kD (derivative)
    0,               // windupRange
    0.75,            // smallError (inch)
    283, // smallErrorTimeout (ms)
    2.5,             // largeError (inch)
    1131, // largeErrorTimeout (ms)
    4.24   // auto-calculated slew
);

lemlib::ControllerSettings angular_controller(
    1.84,   // kP
    0.0, 
    10.37,   // kD
    10.0,            // windupRange
    1.0,             // smallError (deg)
    212,
    5.0,             // largeError (deg)
    849,
    1                // angular slew
);

PID Response Graph