Quote:
Originally Posted by Adnewhouse
If you use the built in pidf control on the talons themselves, your motor loop runs really fast. This is probably a better route than running it on your roborio. The software manual for the talons also suggests that you can change this 100ms can bus encoder update rate to be faster (can be set to 20ms), but you shouldn't need to use this at all. My recommendation is to add more mass on to your flywheel, and experiment with a feed forward gain term if you are using talonSRXs.
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You can actually drop it all the way down to a single millisecond.
That said, I suggest using the TalonSRX Speed Control Mode. You can set FPID values that should be able to get it up to speed very quickly and very consistently. While all mechanical systems are different, we had a two-wheeled shooter without any flywheel that was speeding up after shooting a ball in less than a tenth of a second.