PID vs Bang-Bang for Shooter Consistency

[lori558]

Originally Posted by Ether

OK, that is what I was concerned about. That photosensor isn't exactly a speed demon. It needs a wide stripe. The wider the better (up to 180 degrees of arc, no more).

Okay great, I was concerned that the stripe was too thick to provide an accurate count. That gives me some relief, thank you.


We tested the code that billbo911 posted and it worked!
With a few very minor adjustments we got it to work specifically for our robot perfectly. I pulled up a graph of the speed and output and it was very consistent.

I think our problem this whole time has just been the fact that we were making it too complicated. In addition, when I was first looking into the bang-bang theory I did not understand it all that well but this really clears it up.

Thanks everyone for taking the time to help out with this! It really helps our team out.