PID Tuner

PID Tuner

This webpage is specifically designed to aid new programmers in the VEX Robotics competition in tuning their PID controller. Pick a technique based on your robot's limitations and then give an initial guess. Using binary search, our algorithm will try to find the most optimal PID values for you for each iteration. All you have to do is to look at the robot for any oscillations.
For more information, view our tutorial!

Before starting, make sure to zero all other values in your PID controller. This means:

• kD and kI are 0
• Error ranges and timeouts are 0
• In the movement you call, make sure the timeout won't stop the motion midway
  Example (LemLib): chassis.moveToPoint(0, 24, 4000);

Pick a technique that best tailors to your bot!

• Oscillations: Simplest to tune; increase kP as high as possible while staying below a set amount of oscillations. With my experience, I would do max 1 oscillation for lateral and 3 for angular.
• kD First: This is explicitly for tuning lateral PID and for robots that tip, swerve, or rotate when driving fast and then braking hard.