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PID Tuning & Telemetry

Tuning a PID controller from scratch can be difficult. Vortex makes this easier by providing Real-time Telemetry.

1. Setup Data Logging

In your opcontrol or a dedicated tuning routine, use the Logger::telemetry method to send your error or motor power to a serial plotter.

void opcontrol() {
    while (true) {
        // Log the current distance error
        vortex::Logger::telemetry("Error", chassis.linear_pid.getError());
        pros::delay(10);
    }
}

2. Using a Serial Plotter

  1. Connect your V5 Brain to your computer via USB.
  2. Open a serial plotter (like the one built into VSCode, or v5-serial-telemetry).
  3. Vortex will output data in the format >Name:Value, which most plotters recognize automatically.

3. The Tuning Process

kP (Proportional)

Start with $kI=0$ and $kD=0$. Increase $kP$ until the robot oscillates steadily.

kD (Derivative)

Increase $kD$ to dampen the oscillations. The robot should reach the target faster without overshooting.

kI (Integral)

Use a very small $kI$ to correct for tiny steady-state errors. Vortex includes Integral Anti-Windup to prevent the robot from "runaway" speed if it gets stuck.

Exit Conditions

Once tuned, set your ExitCondition:

chassis.linear_pid.setExitCondition({1.0, 50, 2000}); // 1" error, 50ms steady, 2s timeout

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