Quote:
Originally Posted by buddyb
Additional note: Thanks to the NXT using 16-bit unsigned ints for Encoder values, it is highly suggested that you not use PID control on your shooter, or any peripheral using 9:1 or greater gear ratios, at that. When the encoder values overflow [the motors reach 32,565 faster than you'd think], the PID control algorithm slams the motor to -100 power (or 100, if you were having that motor go in reverse). This also tore up a few gearboxes.
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Good info, thanks.
A better design would account for the possibility of overflows and handle them gracefully, instead of allowing them to wrap like that.