Robodox Guide to velocity control using PID

[Tanaythan]

I've been thinking of a different way to control the velocity of a spinner using PWM and the basic GetRate() function of an encoder. It starts of with a while loop and the shooter motor.

while(encoder->GetRate() <= setpoint) {jag->Set(i); i+= .001}

This way, it ramps up, but the only fear I have of this method is that I am unfamiliar with the way GetRate() works. If it gets back data per second, then we have a problem with this formula. If it works like the CANJaguar feature, there should be no problems with this method.

Note: We used CANJaguars this year and plugged the encoder into the Jaguar itself to use the Speed PID feature.