Quote:
Originally Posted by Ether
The correct angle when you are running it straight off a fully-charged battery may not be the correct angle toward the end of an actual match when your battery is getting tired.
That's why it's important to test your prototype to see how much the correct angle is affected by voltage. If the effect is enough to be a concern, you will want to design your shooter to operate at a lower voltage (say 9 volts) and then used a closed-loop controller (PID, bang-bang, Take-Back-Half, etc) to hold the wheel speed constant as the battery gets weaker.
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We were planning on getting a gear box to run at 2:1 so we could decrease the speed of the motor but still shoot the same. The mini cims have no issues with shooting the ball through a 7" opening, the motors don't really even make a noise as the ball goes through. We just need to figure if we can afford to run all the motors we want on our robot (11 total).