Read more about how to use PID in WPILib
You should be able to answer:
- why we need PID
- where we can see PID
- what is the P term
- what is the I term and when it can be bad
- what is the D term and when it can be bad
Similar to the tuning video above, we can model the system and plot values to tune gains without a robot.
This means that we can also introduce unit tests to verify behavior and controls. For this lesson though, focus more on the PID tuning. Test driven development is a section we'll cover later on in this guide.
