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Is there a reason why you used the encoder VI, instead of the counter VI, for this non-quadrature sensor?
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This is actually just a habit now. When I made my first feedback control loop for a flywheel last year, I had some trouble getting it to work using the counter. On a whim, I tried inputting them as encoders and it worked great. I've since figured out how to do it with the counter VI (some simple problem with the math I had), but never switched back.
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Why did you use 6 pieces of tape, instead of just one?
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This was the recommendation of a mentor. His explanation was that it allowed for a 'finer' count. I have tried it with just one piece of tape and didn't notice any significant different (just different scaling).
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In an earlier post you said that your speed control is accurate to within 0.2% of point. What test equipment did you use to independently measure the wheel speed to make this determination?
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I should have said, the PID controller keeps the flywheel within a .2% error based on the readings from the photoelectric sensors. If those readings themselves are incorrect, then I'd have to rescind that statement.
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Are your motors directly connected to the wheel, or are there gears or belts or chains between them?
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See post by team member above. Directly connect w/ 4:1 gearboxes.
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What motor controllers are you using for the shooter motors?
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See above - talons.
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What is the range of wheel speeds you are controlling?
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Do you mean in RPM? I'd have to check my documentation at the shop, I can't remember off the top of my memory.
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Why did you need a custom PID? Did you try other methods (LabVIEW PID, TBH, bang-bang) and they didn't work?
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The LabVIEW PID has worked fine for us in the past, but it's always more fun to write the code yourself, to a reasonable extent. Better learning opportunity for rookie programmers. I don't have much experience with the half-back or bang-bang controllers, so I can't comment on those. Would be interesting to try them though and see how they compare. Sorry I don't have a good response for this one!