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.
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. |
| 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. |