Bang-bang can be a good solution to shooter wheel speed control, but if you're using the SRX via CAN with the encoder plugged into the SRX, I'd say definitely use the SRX's built-in PIDF speed control, which updates at 1KHz (far faster than roboRIO does PID).
Quote:
Originally Posted by cjl2625
when it got up to speed, the motor started making nasty noises when flickering on and off
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I've heard this happen when the motor controller was set to brake mode. Another possible reason: to much free play between motor shaft and wheel (gearbox, chains, etc). See
this post.