| Nathan Streeter |
02-04-2012 23:55 |
Re: pic: FRC 1086 Final Robot: 2012
Quote:
Originally Posted by wilsonmw04
(Post 1153302)
the range of shot is good. Shots are consistent. having a problem with oscillation with our PID loop. keep shots are set for 2300 RPM but the fly wheel is moving +/- 200 RPM of target. Guessing we need to up the "I"?
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Yeah, we've been amazed how much small changes in shooter wheel speed and hood angle matter...
My background is primarily mechanical, so I may be providing misinformation... I'll ask one of our software guys about this; however, if I recall correctly our PID loops are primarily "P" and "D." They at least used to often have little or no "I." If I recall correctly hunting is a sign of the "D" not being turned up high enough (and/or the "P" being turned up too high)... Take this with a grain (or two!) of salt! :-) |
