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

[Jared Russell]

We have 6 motors on our robot this year that use the velocity-control loop provided by the CAN Talon SRX at least some of the time. It works great and is dead simple to tune (RTM for details, but start with F from first principles or measurement then add some P until you're happy...maybe D if you are feeling fancy).

1KHz control loop + internally low-pass filtered velocity measurement (basically a moving average filter over the last 32(?) dEncoderTicks/100ms) = I'm unlikely to use anything else for velocity control in FRC ever again