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Set IZone of PIDControllers created from PIDFConfigs#319
Merged
thenetworkgrinch merged 2 commits intoYet-Another-Software-Suite:devfrom Feb 5, 2025
Merged
Set IZone of PIDControllers created from PIDFConfigs#319thenetworkgrinch merged 2 commits intoYet-Another-Software-Suite:devfrom
thenetworkgrinch merged 2 commits intoYet-Another-Software-Suite:devfrom
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Setting iZone to 0, which is the default value, prevents the integrator from having any effect, so this only sets the iZone when it is not equal to 0.
Contributor
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Do i even use this function? |
Author
It's being used in SwerveController to create the thetaController. |
Contributor
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Thanks for checking! |
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Sets the
IZoneof PIDControllers created from PIDFConfigs.IZoneis pretty much a requirement forIto be useful since it's one of the main ways to manage windup, so this makesIuseful for correcting for error in heading control. I haven't done much testing on this other than the bare minimum to figure out it works in simulation, so you might want to do a bit of testing before you merge this (I have observed some strange behavior with odometry in simulation whenIhas a value, but it appears to be unrelated to these changes).