Encoders (What's up with those?)

[propionate]

Is there a reason why you used the encoder VI, instead of the counter VI, for this non-quadrature sensor?

This is actually just a habit now. When I made my first feedback control loop for a flywheel last year, I had some trouble getting it to work using the counter. On a whim, I tried inputting them as encoders and it worked great. I've since figured out how to do it with the counter VI (some simple problem with the math I had), but never switched back.

Why did you use 6 pieces of tape, instead of just one?

This was the recommendation of a mentor. His explanation was that it allowed for a 'finer' count. I have tried it with just one piece of tape and didn't notice any significant different (just different scaling).

In an earlier post you said that your speed control is accurate to within 0.2% of point. What test equipment did you use to independently measure the wheel speed to make this determination?

I should have said, the PID controller keeps the flywheel within a .2% error based on the readings from the photoelectric sensors. If those readings themselves are incorrect, then I'd have to rescind that statement.

Are your motors directly connected to the wheel, or are there gears or belts or chains between them?

See post by team member above. Directly connect w/ 4:1 gearboxes.

What motor controllers are you using for the shooter motors?

See above - talons.

What is the range of wheel speeds you are controlling?

Do you mean in RPM? I'd have to check my documentation at the shop, I can't remember off the top of my memory.

Why did you need a custom PID? Did you try other methods (LabVIEW PID, TBH, bang-bang) and they didn't work?

The LabVIEW PID has worked fine for us in the past, but it's always more fun to write the code yourself, to a reasonable extent. Better learning opportunity for rookie programmers. I don't have much experience with the half-back or bang-bang controllers, so I can't comment on those. Would be interesting to try them though and see how they compare. Sorry I don't have a good response for this one!