Quote:
Originally Posted by Ether
Mechanical free play and bang-bang sometimes don't go together very well. Direct coupling of motor shaft to shooter wheel is more amenable to bang-bang control.
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Yeah, the belt on our robot's shooter doesn't exactly like slamming between coast and full power. However the feed-forward we're doing is giving us rpm control that stays within ~10 RPM of the set-point, without being hard on the belt.