PID

It’s the special magic sauce of Mustard. It’s like Grey Poupon. Goes nice with ketchup.

To start, create PIDController object and variables to store the P, I, and D (either do testing and/or run SysID to get the values):

private static final double kP = 1.32;
private static final double kI = 0;
private static final double kD = .0185;

PIDController pid = new PIDController(kP, kI, kD);

Then, to calculate a power based on the PID, do (it returns the power/output):

pid.calculate(current, target);

SysID