Quote:
Originally Posted by Ether
Here's the logic I had in mind:
Code:
if (measured_speed >= target_speed) motor_command = 0.0;
else if (measured_speed >= spinup_speed) motor_command = 1.0;
else motor_command = low_command;
Make "spinup_speed" and "low_command" as high as possible.
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Again, this would be very easy to implement in LabView.
Here's my thoughts on why I didn't jump on this as an option:
1) There can easily be periods of 20+ seconds when the shooter wheel is not being used in a match. During that time, you are just consuming power, even though it may be a small amount, that may be needed later in a match.
2) Depending on where the shooter is in relation to a camera, if you use it as we did, the extra vibration the shooter may be creating can interfere in the imaging process, thus your aim.
3) If a slew rate limiter is used below a certain threshold, then you avoid the possibility of tripping the over-current in the Jag. (Not an issue with a Victor.)
If there is enough interest, I will most certainly create a version that follows the minimum continuous RPM model. Who knows, I might just become a fan of it too.
