Tuning PIDF

[David10238]

I want to tune our PIDF, but in order to do so easily I need to be able to empirically tune f. I don't know the units, so I can't do the math to calculate f from ticks per second or rotation per second of the motor.

[gearsincorg]

Internally, Max motor output power/voltage is defined as +/- 32767.

So the default value for F is 32767 / MAX Counts Per Second.

Soo... if the Max counts per second for the motor is 3600, F would nominally be = 9.1