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Unread 25-01-2017, 19:17
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Tom Line Tom Line is offline
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FRC #1718 (The Fighting Pi)
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Re: Velocity Control - Battery Compensation Term

Quote:
Originally Posted by Paul Copioli View Post
Tom,

The I gain is for things like that. We use I and P for velocity control and as long as you design your gearbox / motor combo with enough headroom then the I and P can compensate. We design our speed controlled devices to operate at 60% duty for the ideal situation. 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
Thanks Paul. I usually design for my shooting speed to be at about 50% max velocity, because that's usually right around the peak power for the motor and I want to optimize spin-up time after a shot.

Good to know I don't have to mess around with battery compensation.
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