I am building @ mecanum bot and am in the process of tuning the PID-controller for the wheels. The PID-algorithm I implemented works pretty well (I think), but still I am not satisfied. I could do with some advice.
I define motor speed in terms of the number of state changes per second (SC/sec). Max number of SC/s is 5000. If I set the desired speed at 3000 the results are as depicted in the graph.