paper: Shooter Wheel Speed Control

[billbo911]

Originally Posted by Ether

If you get a chance, try getting rid of the voltage ramp*, and increase the update rate to 20ms instead of 50ms.


[i]
*unless you need the voltage ramp to keep the Jag from shutting down at spinup. If so, try turning off the Jag's voltage ramp and put a ramp in the cRIO instead, and make it active only in the increasing direction, and only for speeds below the necessary spinup speed.

I can easily see that setting the "Slew Rate Limiter" to only apply in a positive direction when the wheel is below a certain RPM could have a big benefit.

With the largest current loads taking place in the first few loops when starting from 0 RPM, that is when the Jag. would shut down. So, if the limiter only applied when the wheel was below, say 100 RPM, then you would always get full power pulses to maintain the desired RPM.
Easy enough to do in LabView. I'll update my .vi's and have them posted shortly!