Motor Control System Configurator
Configure and simulate PID, feedforward, and gravity compensation gains for FRC motor controllers.
Understanding Motor Control Gains
PID Gains
- kP (Proportional): Responds to position error. Higher values = faster response
- kI (Integral): Accumulates error over time. Helps eliminate steady-state errors
- kD (Derivative): Responds to rate of change. Reduces overshoot
Feedforward Gains
- kS (Static Friction): Voltage to overcome static friction
- kV (Velocity): Voltage per unit velocity
- kA (Acceleration): Voltage per unit acceleration
Gravity Compensation
- kG (Gravity): Voltage needed to hold position against gravity
How to Use
- Select “Arm” or “Turret” simulation mode
- Choose an active slot (0-1)
- Adjust gains with sliders
- Move target control to see system response