Behind The Design 2012

[Jay Meldrum]

Originally Posted by Ether

The graph on the top left of page 8... I assume this is an open-loop test at 12 volts. The text says the team chose the 8000 rpm free speed, which would be the 1:2 gear ratio according to the graph. The text also says 4000 rpm was used for shooting from the key. Does anyone know what control algorithm 67 used for shooter speed?

Ether: We used a PID. The input was the rate of a light sensor (3 division flywheel was on the shaft of shooter). We had 3 preset shoot speeds based on different locations on the field: top of key, bottom of key, hail mary. We also manually modified those speeds during the match depending on ball "squishiness".