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Re: Good way to bring shooter to exact speed?
Quote:
Originally Posted by team-4480
Hi,
We recently decided to put an encoder on our shooter so that we can stop setting the shooter to a percentage of the battery power to an actual rpm. The problem we have now is how do we exactly program it to go to a certain rpm?
My best guess would be to use a PID loop and then limit the output to not include negative numbers so that the shooter doesn't suddenly change directions. We have tried just writing a linear equation like speed = distanceFromRPM * .01 +.4 but that usually didn't work well and the time it took to reach the desired RPM had a huge variation.
We just want a method that takes very little time to get up to the RPM and is consistent. Any ideas are appreciated and welcomed!
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Take-Back-Half (TBH) control.
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