FRC971 Spartan Robotics 2016 Release Video

[AustinSchuh]

Originally Posted by AdamHeard

I count 5 control loops minimum to put a ball in the goal?

Depends on how you count them

The same loop runs on the left and right side of the shooter. They are only coupled in software. The control loop to run the shoulder and shooter angle is a 6 state MIMO (multiple input, multiple output) controller. The intake loop is separate. Then, there is the MIMO drivetrain loop being fed with angles by the camera.

So, yea, 5.

Originally Posted by aphelps231

May I ask what kind of mechanism you're using to push the ball into the shooter wheels?

A pair of connected linkages (driven by miniature pistons).