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Re: PID vs Bang-Bang for Shooter Consistency
Not in my FRC boot, so I can't check, but does the Labview PID VI have a feedforward term and integral anti-windup? Both of those are really necessary to get good performance from a PID loop on a shooter.
Also, you say you're using a Counter and you said you changed from using 360 to 1. Are you using the counts from the Counter, or are you using the period? The single count encoder trick only really works if you're using the period from the Counter. You don't get nearly enough of those single counts to do any kind of control. So instead, you use 60/period which gives you a fairly accurate measure of RPMs. That should be your input to your PID or Bang-Bang.
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The difficult we do today; the impossible we do tomorrow. Miracles by appointment only.
Lone Star Regional Troubleshooter
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