You seem to be operating under the assumption that a stable, 0 deviation from setpoint velocity is the only component to a consistent shot. This is far from the case. There are many mechanical factors that go into shot consistency that are unrelated to wheel velocity.
Quote:
Originally Posted by Agent ZeusChops
Wouldn't a bang-bang still be more reliable?
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How so? A properly tuned velocity PID will usually provide better stability with similar (but definitely slower) setpoint adjustment speed. The bang-bang algorithm is simpler and requires very little tuning but will oscillate around the setpoint.