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Re: Shooter consistency
Our discs fly in a very flat trajectory at the ranges we specifically target (all the way from just in front of the goal to about midfield). So flat, in fact, that our auto-aiming function simply aligns our shooter's angle so that the goal is in a constant place in the image frame coming from the arm-mounted camera. I had anticipated nonlinearities requiring a range-to-offset table (e.g. assume shot drop at longer distances and different trajectories at higher angles, etc.), but this turned out to be unnecessary.
Our shot trajectory is not very different with our nominal setup (3000 and 4700RPM) than if we run both wheels at 100% voltage open loop (~6000RPM). The real benefit of speed control/measurement in this application is that we can maintain a high rate of fire with consistent shots (we know exactly when we can fire the next shot), and we manage the wear on our BaneBots wheels by limiting the slip on the disc (and balancing the wear between the front to back wheels).
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