Simple PID Example

[Eric_R]

Hi Nathan

Thank you for your activity and support of FIRST robotics. Sorry for the confusion, it shouldn't matter whether you solve for dt outside or inside as far as motor control goes where we are running our updates as fast as possible. You are correct in that doing this manually would take just as long as letting the VI run. My recommendation for wiring the output of the dt was to see how fast the control loop was updating, this would not solve for the oscillation period but may help in gaining a better understanding of the control system in general.