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Unread 06-07-2016, 11:14
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Re: Good way to bring shooter to exact speed?

Quote:
Originally Posted by Ether View Post
Because Y is the output to the motor controller, and the integration of Y is always in the direction to drive the speed toward (and then past) the setpoint... which causes a change in the sign of "e".
Ok, that's not how I had read the original thread. Looking back at it I must have misread:

Quote:
Originally Posted by Ether View Post
The hallmark of TBH is the unique way that the output is reset at each zero crossing.
as
Quote:
Originally Posted by Not-Ether
The hallmark of TBH is the unique way that the output is only reset at each zero crossing.
Thanks for the clarification - this will save me a whole bunch of heartache as I experiment with TBH on a motor driven launcher.
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