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Unread 21-01-2017, 22:09
Brandon_L Brandon_L is offline
doot doot
AKA: Brandon Liatys
FRC #2180 (Zero Gravity)
Team Role: Mentor
 
Join Date: Jan 2008
Rookie Year: 2007
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Re: Velocity Control - Battery Compensation Term

Quote:
Originally Posted by Paul Copioli View Post
Tom,

For example, if you want your shooter to go 2500 RPM, it better hit that speed at 60% - 70% duty. This way, the I and P gain can do their job. When testing without speed control, if you set your motor command at .6 or .7, then you should be able to score your game object from the desired shooting spot with a full battery and one ball at a time. At least, this is what we do.

Paul
Is there a way to calculate this? Such as if I'm using a motor say with a 10kRPM free speed but I want my shooter to go 2.5kRPM, what method or charts would I need to calculate the ratio that will get me to 2.5kRPM at 60-70% duty cycle? I assume it would be less aggressive gearing than if I did the usual calculation, which in this case would be 4:1
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FRC 2495 - Hamilton West Robotics [2007-2014] - whats a..."hive mind"?
FRC 3929 - Atomic Dragons [2012-2013]
FRC 2180 - Zero Gravity [2017-]

Just trying to collect all the possible team colors

Last edited by Brandon_L : 21-01-2017 at 22:12.
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