[friskywombat]

We use bang-bang on our shooter wheel, and it's working pretty amazingly. But instead of an encoder, we have an optical sensor that is rigged as a digital signal, and set up as a Counter object in LabVIEW. We have the code running every 5 milliseconds in one of LabVIEW's timed loops. The motor speeds back up to our desired RPM very quickly after a dropoff, and there is only a little oscillation when it reaches the RPM (not enough to affect the shot, even at full court). And Gluxon, we haven't had any problems with our CIM or Jaguar, even running the algorithm at 200 Hz.