Details of Roboclaw PID algorithm

Does anyone know the actual equations of the Roboclaw’s PID algorithm? I am finding that my motor moves at slower speed than set by the DriveM1 command and I think that changing the PID constants might help. However, the documentation in the user manual doesn’t explain well enough how the various parameters are actually used. Any help greatly appreciated.
By the way, is the source code of the firmware of the Roboclaw available for public inspection? That would be extremely helpful.


We don’t know the equations used in the RoboClaw’s PID algorithm or if they released their firmware. You might try contacting Basic Micro directly.

- Grant