Quote:
Originally Posted by tomy
My teams problem is that when we fire our shooter its accurate but when the compressor activates and the voltage drop so does the speed of the shooter. That is why we wanted to create a PID Loop with the battery voltage if possible
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You have at least 2 choices:
1) Measure the battery voltage and compensate for that by adjusting your motor command. This does not require PID. Adjusting the motor command based on voltage will help, but may not be as accurate as the 2nd solution:
2) Put a speed sensor on your shooter wheel, and use that as the process variable in a feedback controller. You can use PID control for this, or you can use bang-bang.