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Re: paper: Take-Back-Half Shooter Wheel Speed Control
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Re: paper: Take-Back-Half Shooter Wheel Speed Control
:) Me too. NP.
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Re: paper: Take-Back-Half Shooter Wheel Speed Control
I have found this to be an acceptable take-back-half algorithm:
Code:
cval -= (cval - goodval) / 2;Code:
cval += constrain(-(cval - goodval) / 2,-max,max);Code:
float constrain(val,min,max) { |
Re: paper: Take-Back-Half Shooter Wheel Speed Control
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Now, if you instead have Code:
cval -= (sensorval - goodval) / 2; |
Re: paper: Take-Back-Half Shooter Wheel Speed Control
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And, just because it's an integrator, and its gain is 1/2, does not make it a TBH algorithm. The hallmark of TBH is the unique way that the output is reset at each zero crossing. |
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