team4761 / 2016-robot-code Goto Github PK

The small shimmy to the side in Auto is caused by the Encoder PID not responding quickly enough. If we tune it faster, it will get jittery.

Instead, each half of the robot should have a PID, and AssistedDrive should ramp the setpoint for both sides independently.. When AssistedDrive starts, it ramps the setpoint from the current encoder position for that side of the drivetrain to the new distance, at the specified velocity. Each side of the drivetrain may have slightly different tuning, but can both be tuned to have a good response.

The turn parameter of assisted drive will need updating to do the right thing.