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Re: PID vs Bang-Bang for Shooter Consistency
Hi Lori,
Check your e-mail. I just sent you a customized version of the Bang-Bang.
I'll post the content here for others to see as well.
Kennedy is using a single count per rev. "encoder".
This encoding works best with measuring the period and converting to RPM than measuring counts during a given period and then converting to RPM.
Once the measured RPM is established, controlling the RPM becomes a simple matter of comparing the actual RPM to the desired and turning the speed controller on or off.
Note in the attached image, the point where the value is obtained from the "Counter Get" is the period output.
Additionally, if this method is followed exactly, it is only capably of tracking RPM up to a theoretical maximum of 6000 RPM. But, that is perfect for use with a direct drive CIM powered shooter.
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CalGames 2009 Autonomous Champion Award winner
Sacramento 2010 Creativity in Design winner, Sacramento 2010 Quarter finalist
2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award.
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
2014 Capital City Classic Winner AND Runner Up. Madtown Throwdown: Runner up.
2015 Innovation in Control Award, Sacramento.
2016 Chezy Champs Finalist, 2016 MTTD Finalist
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