paper: Shooter Wheel Speed Control

[kenavt]

Originally Posted by Ether

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.

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.

With our current PID loop, we're achieving around +/- 5 RPM with Jaguars. It would be great to achieve that sort of precision with this method, but with a faster ramp-up after shots or when first starting up the shooter.

I'm also worried about adversely affecting the motors with this sort of harsh treatment (fast sequence of full and no voltage). I might tune the voltage ramp to prevent this occurrence primarily, as well as preventing the Jags from shutting down. This will be something I discuss with the mechanical side of my team.