Thread: paper: Shooter Wheel Speed Control
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Unread 16-04-2012, 08:17
Jared Russell's Avatar
Jared Russell Jared Russell is offline
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FRC #0254 (The Cheesy Poofs), FRC #0341 (Miss Daisy)
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Re: paper: Shooter Wheel Speed Control
This method is roughly equivalent to using a PID controller with Kp set to something very large (with Ki = Kd = 0) and the output limited to the range [0,1]. That might be the quickest way for many to implement this. We use a non-zero Ki and a feedforward term on our wheel, but then we have a very light shooter wheel assembly and don't rely on the "flywheel" aspect as much as many teams.

I would be interested in hearing whether teams find that this method works better when running at a 200Hz loop rate (the maximum update frequency for Jags) than at the ~50Hz "xxxPeriodic()" loop rate. Intuitively, I would think it would make a big difference. The built-in WPIlib PIDController classes make this easy to implement.
Last edited by Jared Russell : 16-04-2012 at 08:19.
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