Flywheel Shooter Speed

[Ekcrbe]

Originally Posted by philso

Ekcrbe is giving you some good tips. Just as important as what speed was used is to keep the speed constant. We did not regulate ours and the shots were inconsistent. Less than 1/3 would go in the goal, even if the robot did not move relative to the goal.

Ah, thank you for reminding me of this point. Mechanically, I gave the reasons why our shooter was capable of putting out consistent shots, but software was equally important. We had PID control on the wheel speed, but we also had what we called the "speed check", which disabled feeding into the shooter if the wheel was more than +/- 50 RPM from its target value. This allowed the operator to simply hold the fire button as soon as we were in position and let the robot react as soon as it was ready for each successive shot. This isn't as important this year because you can only shoot one ball at a time, but it still might have some merit.