The PID Tuning tab allows you to fine-tune the PID constants for each motor to achieve the desired performance. The controller board supports three levels of PID control, which helps maintain system stability at different velocities.

Switch to the PID Tuning tab to view the PID parameters. If they are not visible, press Refresh.

Motors Maximum Speed

The maximum speed defines the upper limit used by the PID controller when calculating output. To obtain the maximum speed, press the Auto Config button to automatically measure the maximum speed for each motor. You can also set the maximum speed manually and press Send.

Please ensure the robot is lifted when sending commands; otherwise, it may move and cause damage.

PID Configuration

This section stores the PID constants for each motor and level. The controller supports three levels, allowing different PID configurations for different speeds. Level 1 is expected to be the lowest, and Level 3 the highest.

To define the PID speed:

1. Enter the desired speed for each level.
2. Press Send.

PID Test

The PID Test allows you to fine-tune the PID constants for each motor using a chart. Adjust the PID values for each motor and each level to achieve the desired performance.

For example, to tune the PID for Motor 1 at Level 3:

Please ensure the robot is lifted when sending commands; otherwise, it may move and cause damage.

1. Select Motor 1 from the drop-down menu and Level 3 from the level menu.
2. Set the PID constants and press Update.
3. Press Send to start the test and observe the chart.
4. Press Stop to halt the test.

There are various methods for tuning PID. When adjusting the PID constants, try increasing P by 1, I by 10, and D by 0.1.

You can check the Custom Velocity checkbox to define a custom velocity for testing.

Save Configuration

Scroll to the bottom and press Save Configuration. The PID constants will persist after reset but may be overwritten by a full chip erase.

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