pic: FRC 1086 Final Robot: 2012

[wilsonmw04]

the range of shot is good. Shots are consistent. having a problem with oscillation with our PID loop. keep shots are set for 2300 RPM but the fly wheel is moving +/- 200 RPM of target. Guessing we need to up the "I"?

[Nathan Streeter]

Originally Posted by wilsonmw04

the range of shot is good. Shots are consistent. having a problem with oscillation with our PID loop. keep shots are set for 2300 RPM but the fly wheel is moving +/- 200 RPM of target. Guessing we need to up the "I"?

Yeah, we've been amazed how much small changes in shooter wheel speed and hood angle matter...

My background is primarily mechanical, so I may be providing misinformation... I'll ask one of our software guys about this; however, if I recall correctly our PID loops are primarily "P" and "D." They at least used to often have little or no "I." If I recall correctly hunting is a sign of the "D" not being turned up high enough (and/or the "P" being turned up too high)... Take this with a grain (or two!) of salt! :-)