Bang-bang using Talon-SRX and PID for a Shooter

[cjl2625]

I'd assume that bang bang would theoretically spin up faster since it spins at full speed until it hits the target speed. However, when I tried it, when it got up to speed, the motor started making nasty noises when flickering on and off.

I found the PID + Feedforward (built into the SRX) to work great on speed control. In fact, I got great results with purely P and F. It spins up fast, goes right to the target speed, and doesn't make the same disconcerting noises that I experienced with bang bang.

I guess the results of bang bang vary from system to system.