[Team3266Spencer]

Originally Posted by Jon Stratis

Aside from keeping everything stable and minimizing vibration, the real key is to design your system such that the wheel can reach the exact same speed prior to every disk entering it. Put an encoder on the wheel and learn how to use PID control. Only push the next disc into the shooter if the wheel has hit the target speed.

This can be assisted with a flywheel - a weighted wheel designed to help maintain speed during shooting. With a flywheel, it will take longer to spin up initially, but the wheel will slow down less when it fires a disc. This helps to maintain a constant speed as you shoot.

You speak as if we're not already doing this