Shooter Problem

[Woolly]

Originally Posted by Ether

Try P-only and crank the gain up to the sky*. If you've got enough inertia in the wheel, and you run the loop at 10ms, that's all the tuning you should need.


* this will mimic a bang-bang controller.

Yeah, I'd say that you might want to go with a bang-bang controller.

If you get flack from your mechanical/fabricators for "slamming" the motor, do what I did, add a linear cushion within ~3% of your target speed.
Ex. For a shooter wheel capable of 10,000RPM when you're over 300 RPM lower than your setpoint, you go 100% power, when you're 150 RPM Lower, 75%, Dead on 50%, 150RPM Higher 25%, 300RPM Higher 0%.

This will mimic the PID you're trying to use, and unless you really know what you're doing when PID tuning, will be half the headache.