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

[Ether]

Originally Posted by billbo911

We are using separate thread to control the wheel. It measures the period of a single flag on the shooter wheel.

Please provide more detail how you are obtaining the period.

For example:

a) sensor is configured as a counter object, and the 40MHz FPGA is giving you an exact period via getPeriod() in WPILib,

or

b) you are counting wheel revs, and dividing that into your nominal thread period,

or,

c) you are counting wheel revs, and dividing that into your measured thread period,

or

d) something else?

I ask because bang-bang does not like phase lag and/or jitter on your speed signal.