3145H Hysteria
3145H's PID Starter
A 100% accurate generator that will work 100% of the time first try
Key Specs
Code
lemlib::ControllerSettings lateral_controller(
2.75, // kP (proportional)
0.0, // kI (usually 0)
5.16, // kD (derivative)
0, // windupRange
0.75, // smallError (inch)
207, // smallErrorTimeout (ms)
2.5, // largeError (inch)
826, // largeErrorTimeout (ms)
5.81 // auto-calculated slew
);
lemlib::ControllerSettings angular_controller(
1.34, // kP
0.0,
7.57, // kD
10.0, // windupRange
1.0, // smallError (deg)
155,
5.0, // largeError (deg)
620,
1 // angular slew
);