Problems with tuning shooters using AM basketballs on Practice Field?

[wireties]

Originally Posted by JamesCH95

We tried a PID loop but couldn't ever get it to behave the way we wanted it to. The issues being that there are huge changes in friction and system inertia when a ball is engaged with the shooter, and our shooter system is slow low-inertia that the PID loop is unstable when under no load no matter how much we tuned it.

So a gain that made it stable with no load did not compensate for the change in load when compressing a ball? Then raising the gain to help made it oscillate under no load? We might have the same problem... what motors do you use?

For teams incorporating a compensation factor - was the factor a simple constant or a constant multiplied by V or maybe V squared?

TIA