PIDController + Latency - related issues

[Pault]

Originally Posted by Alan Anderson

Feedforward only works well if the system is reasonably linear. Your system might always use a range of wheel speeds where that assumption holds, and it would be fine in that case. You should still be aware that you are relying on that assumption.

This is mostly true, however a strong integral term is normally enough to make even a very non-linear system work, especially if you are only using a small range of the total RPM that the shooter is capable of. There probably are better ways to deal with this if you aren't happy with feed-forward, though.