Quote:
Originally Posted by Wasabi Fan
Using the F parameter to get close is a good policy, but it doesn't fix the problem. Using F as a crutch is no better than just setting a power target directly; the value produced by F doesn't change as the state of the system does. The issue here is that, as velocity PID is implemented in the Talons currently, P is useless. One must rely on the I term, because it is the only term which will actually help you get to your velocity goal based on changes in the system.
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We followed Omar's advice this season and used pdf control. We got our shooter speed to +-.50 rpm of our goal. This has been the cleanest we've ever gotten.