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Westside Robotics
2021-09-26 20:27:24 -07:00
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Changing-PIDF-Coefficients.md

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The REV Robotics Expansion Hub allows a user to change the PIDF coefficients used for closed loop motor control. The PIDF coefficients are specific to each channel (motor port) and to each RunMode. The REV Robotics Expansion Hub allows a user to change the PIDF coefficients used for closed loop motor control. The PIDF coefficients are specific to each channel (motor port) and to each RunMode.
The following sample OpMode uses an extended or enhanced DcMotor class (called "DcMotorEx") to change the PIDF coefficients for the RUN_USING_ENCODER RunMode for a motor named "left_drive". The OpMode uses the setPIDFCoefficients method of the DcMotorEx class to change the values. This method is not available with the standard DcMotor class. The following sample OpMode uses an extended or enhanced DcMotor class (called "DcMotorEx") to change the PIDF coefficients for the RUN_USING_ENCODER RunMode for a motor named "left_drive". The OpMode uses the setPIDFCoefficients method of the DcMotorEx class to change the values. This method is not available with the standard DcMotor class.