Quote:
Originally Posted by Joe Ross
In 2006, we used a relatively light shooting wheel (two skyway wheels). We designed it so that our "normal" shooting speed was 80% of full speed. When we ran it open loop at 80%, it would take about 1.5 seconds to get back to speed after shooting a ball. With PID control, it took 0.7 seconds. A shooting wheel with more inertia would have made both of these better.
I would recommend starting with open loop control, and if the students aren't happy with the result, then you can start teaching PID.
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This a key point. Teams need to realize it is not the surface speed of the wheel that directly matters, but rather the energy stored in this flywheel. One could make the trade off of longer initial spinup time for a much decreased energy loss per shot.