paper: Shooter Wheel Speed Control

[Ether]

Originally Posted by John

Yesterday I tried to implement the "bang-bang" controller in order to compare it to our PID loop. It seems our shooter does not have sufficient inertia to maintain a stable speed, as it oscillates uncontrollably.

That doesn't sound right at all. Something is amiss.

Would you mind posting the following additional information please:

- what motor(s)

- total gear ratio from motor to wheel.

- Jag or Vic?

- coast or brake mode?

- voltage ramp rate?

- what encoder model, and where mounted

- what language

- 1x 2x or 4x decoding?

- Counter or Encoder class?

- to measure RPM, are you measuring the time between consecutive counts, or are you dividing the counts by the delta time?

- if dividing counts by delta time (see above item), how are you computing the delta time

- what execution cycle update rate?

- what wheel rpm value were you trying to control

- please elaborate a bit more on the nature of the oscillations: amplitude, frequency, etc