paper: Shooter Wheel Speed Control

[Jared Russell]

This method is roughly equivalent to using a PID controller with Kp set to something very large (with Ki = Kd = 0) and the output limited to the range [0,1]. That might be the quickest way for many to implement this. We use a non-zero Ki and a feedforward term on our wheel, but then we have a very light shooter wheel assembly and don't rely on the "flywheel" aspect as much as many teams.

I would be interested in hearing whether teams find that this method works better when running at a 200Hz loop rate (the maximum update frequency for Jags) than at the ~50Hz "xxxPeriodic()" loop rate. Intuitively, I would think it would make a big difference. The built-in WPIlib PIDController classes make this easy to implement.