This repository was archived by the owner on Apr 24, 2023. It is now read-only.
This repository was archived by the owner on Apr 24, 2023. It is now read-only.
Improved PID Controller #870
Description
Currently we have a very simple PID controller in the gazebo swerve control node. It would be nice to improve this controller to include features such as a low pass filter for the derivative term to limit the high-frequency gain and noise and an integral clamp to avoid integral windup.
AC: Improved PID controller in the swerve control node with a low pass filter and integral clamp