Quote:
Originally Posted by EricVanWyk
We used CAN for Breakaway to control a kicker. To get it in position, we used current mode control to move backwards until it felt a force from a hardstop. To fire, we used an intentionally under-damped PID looped around position on an encoder. This made it easy to reliably control the rest positions and contact speed.
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So if I understand you correctly, using CAN to control the kicker basically saved you a limit switch. And what does an under-damped PID loop has to do with CAN? I don't quite see it probably because I don't know your kicker's design.