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Re: Behind The Design 2012
Quote:
Originally Posted by Ether
The graph on the top left of page 8... I assume this is an open-loop test at 12 volts. The text says the team chose the 8000 rpm free speed, which would be the 1:2 gear ratio according to the graph. The text also says 4000 rpm was used for shooting from the key. Does anyone know what control algorithm 67 used for shooter speed?
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Ether,
I believe the plot was a theoretical calculation of motor RPM v. time that one of our engineers created to help us determine what gear ratio we wanted to use for our shooter gearbox. The data showed that the 2.5:1 ratio was the fastest to reach 4000RPM, which is what targeted for our "normal" shooting speed.
The 8000RPM free speed is a typo on my part. It should be more like 6400RPM.
I pointed our controls guys to this thread. He will answer the control algorithm question.
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2005 FIRST World Champions (330, 67, 503)
2009 FIRST World Champions (111, 67, 971)
2010 FIRST World Champions (294, 67, 177)
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