[Andrew Duerner]

Hi everyone,

Ether, here is a screen shot that we took at around 13 or 14 volts.

philso, I don't know if the spikes are from the scope or the encoder. I would have to borrow the scope again to play with more settings.

As for shooter wheel design, from my experiences in 2012, having the wheel be designed to mechanically impart enough energy into the ball can lead to a very accurate shot. Our encoder was used for ensuring that a very accurate rotational velocity was achieved so that the wheel would impart the same energy each time. We added closed loop PID control helped bring the wheel back up to speed in a short amount of time for the next shot. Which in 2012 was important as you could hold 3 balls. This year the cycle times will be much longer.