[AdamHeard]

If you're familiar with what each constant does, PID should be somewhat simple to just throw on and test on the final shooter.

The combination of your two ideas is actually better, do some testing and record battery voltage, victor output and wheel rpm. Develop a rough correlation between voltage, victor output and rpm.

Use this, it'll get you pretty close to a constant speed. Now, Throw a control loop on as well. The control loop now just deals with the slight difference between the predicted and actual speed, and will also cause the wheel to spinup faster.

I know a LOT of teams in 2006 actually went to full bang-bang control on spinup (literal full speed), as a flywheel takes a while to respond.

A flywheel is a somewhat forgiving device to control because it has a LOT of momentum ideally.