Tuning Motion Magic PID

Follow these steps to tune the Motion Magic PID for your robot:

Prerequisites

• Ensure you are connected to the robot via its Wi-Fi.
• Open the constants.py file to adjust the PID constants.

Steps

1. Set Initial PID Constants
   Set all PID constants (kP, kI, kD, kF, etc.) to 0 in constants.py.

2. Tune kS (Static Gain)

   • Gradually increase the kS value.
   • Deploy the code after each adjustment.
   • Stop increasing kS once the mechanism begins to move slightly.

     Note: Keep this value as low as possible while ensuring the mechanism moves.

3. Tune kG (Gravity Compensation)

   • Set a setpoint for the mechanism.
   • Gently raise the mechanism to the setpoint and release it while the robot is enabled.
   • If the mechanism does not hold its position, incrementally increase the kG value.
   • Deploy the code after each adjustment.
   • Stop increasing kG once the mechanism holds its position without drifting.

4. Tune kP (Proportional Gain)

   • Gradually increase the kP value.
   • Deploy the code after each adjustment.
   • Stop increasing kP once the mechanism begins to overshoot the setpoint.
   • Dial back kP slightly to achieve the highest value that does not cause overshooting.

Additional Notes

• If you encounter issues with feedforward, you may need to revisit and refine your feedforward calculations.