paper: Shooter Wheel Speed Control

[Ether]

Originally Posted by kenavt

An ingenious way of shooter motor control, definitely. Seems like this should have been the first thing our team thought of, over the glamor of PID!

My only question would be the precision of the "Bang Bang" speed controller over a well-tuned PID loop (how close one is the target speed). That would obviously depend on the "small overshoot" Ether talks about due to execution cycles only being ran so fast. Does anyone have data about how precise this speed control method can be?

Kudos to Martin for bringing this up. He reports +/- 15 RPM. I've been told of similar results using a Victor.

The key is getting a noise-free speed signal. The paper discusses how to do this for speeds typical of shooter wheels.

I might be able to get some data on this precision with various execution cycle times by the end of the week on our practice robot.

Excellent. Please do post any data you generate. If you'd like a second set of eyes to look at your code, PM me and I'd be more than happy to take a look and provide feedback.