Slot2ConfigskI Field

Integral Gain

The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input integrated over time (in units of seconds), the units should be defined as units of output per unit of integrated input error. For example, when controlling velocity using a duty cycle closed loop, integrating velocity over time results in rps * s = rotations. Therefore, the units for the integral gain will be duty cycle per rotation of accumulated error, or 1/rot.

  • Minimum Value – 0
  • Maximum Value – 3.4e+38
  • Default Value – 0
  • Units

Definition

Namespace: CTRE.Phoenix6.Configs
Assembly: Phoenix6 (in Phoenix6.dll) Version: 1.0.0
C#
public double kI

Field Value

Double

See Also