Question about encoders to control motor

[Ginto8]

Originally Posted by gluxon

This particular algorithm scares me a bit. Did your robot shooter motors have issues handling the stress of constantly reversing its rotation?

If you have your speed controller jumpered into coast mode (there's a jumper labeled "BC" for brake/coast), you shouldn't be stressing anything. I implemented a Bang-Bang controller on last year's shooter wheel for testing, and made some very scary-sounding repeated thunks from the wheel, but I think that was a chain re-engaging more than anything. We didn't go for a Bang-Bang this season, instead opting for a PID controller. It has worked quite well, but it required some significant tuning. At our last competition, we retuned the controller a little, and shortened our initial spin-up time by about a second. We might be retuning it a bit this weekend as well. We'll see.