[billbo911]

Originally Posted by Ether

Control the shooter wheel speed with a bang-bang controller rather than PID.

Tip of the hat to Martin for reminding me of this.

Based on the above linked paper, I threw together the LabView "equivelent".
I chose to set it up with a counter instead of an encoder, but you can still use an encoder as the input to the counter. With this configuration, you can also use a simple Banner sensor and a piece of Retroreflective tape on the wheel if you would like. I also chose to use the 10ms. periodic loop.
With this version, you should be able to modify the loop delay without changing anything else. It will compensate for the change in interval time.

Please test this before you use it. This is built purely in code only and has not been debugged on actual hardware......yet.

[EDIT] I realized I had not made a compensation in the slew rate limiter to take into account different loop execution times. So, in the next version I'll have it added. [/EDIT]

[EDIT#2] See my next post, post #36, for the updated version of the Periodic tasks.vi. [/EDIT#2]