Inconsistant Shooting

[FlyingMonkeys]

Hey guys,

We were testing our bot and found that our shooting was highly inconsistant due to a variety of factors, some including but are not limited to:
1. Ball density,
2. Ball mass
3. Wind resistance
4. Constantly fluctuating battery
5. Speed of flywheels (And the fact they take a while to reach max speed)
7. Ball compression between wheels
8. The time it takes fly wheels to reach it's set speed.

I've read somewhere that PID controllers might help, given we have encoders mounted on our shooters, would anyone be so kind as to link me to some documentation about that? We're using Java, if that helps.

How are teams doing with their shooting? If anyone teams have very consistant shots, would it be possible to enlighten the rest of us on some key things to look out for?

I've heard that no matter how hard to try to make things accurate, the balls on court will be very different and that will skew everything.

Thank you!