Quote:
Originally Posted by cjl2625
I found the PID + Feedforward (built into the SRX) to work great on speed control. In fact, I got great results with purely P and F. It spins up fast, goes right to the target speed, and doesn't make the same disconcerting noises that I experienced with bang bang.
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This is what we are currently using, though I have some experimental code that uses the pseudo-bang-bang I described before. Ours sits around +-50 RPM from the target, which turned out to be good enough for our shooter.
Also, this paper and its discussion has some good information about shooter control:
http://www.chiefdelphi.com/media/papers/2663