PID vs Bang-Bang for Shooter Consistency

[billbo911]

Originally Posted by lori558

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

Well, this is going to make my wife very happy!!!
I was going to swing by Kennedy this evening, but now I get to spend the evening with her because it looks like you guys are going to be just fine!! Good luck in San Diego!!

Originally Posted by Ether

Bill has posted various versions using different decoding methods. For the benefit of readers of this thread, could you please post the final code that worked for you? Please include both the "begin" and "TeleOp" portions.
Again, for the benefit of readers here, would you please post a screenshot of the graph.
That's what's great about CD and the FRC community.

I'm not going to post what I believe they are using, I'll leave that to Lori so that we see exactly what is working for them.

As she stated, complicating Bang Bang is not necessary. It is actually a very simple controller IN THE RIGHT SITUATION. I believe the key to making it work is, a reliable way to measure the output being controlled.

I still have a couple questions that will probably need to be answered by Mark McLeod, although you may know the answer to this Ether.

How does the FPGA derive the "period" value? Is it just the time between rising, or falling, edges of a signal? Will the duty cycle of the signal influence the "period" value?