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Unread 06-03-2012, 09:12
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wireties wireties is offline
Principal Engineer
AKA: Keith Buchanan
FRC #1296 (Full Metal Jackets)
Team Role: Mentor
 
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Re: Problems with tuning shooters using AM basketballs on Practice Field?

Quote:
Originally Posted by JamesCH95 View Post
We tried a PID loop but couldn't ever get it to behave the way we wanted it to. The issues being that there are huge changes in friction and system inertia when a ball is engaged with the shooter, and our shooter system is slow low-inertia that the PID loop is unstable when under no load no matter how much we tuned it.
So a gain that made it stable with no load did not compensate for the change in load when compressing a ball? Then raising the gain to help made it oscillate under no load? We might have the same problem... what motors do you use?

For teams incorporating a compensation factor - was the factor a simple constant or a constant multiplied by V or maybe V squared?

TIA
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