paper: Shooter Wheel Speed Control

[nighterfighter]

Yes, it was coast mode, both on the jumper, and it is set to coast mode in our code.

When we didn't have a ramp rate, we found that our RPM was less consistent, but I can try again. Although,from what we noticed, there was no ramp down, only ramping up.

As for the CAN vs FPGA, we aren't sure. We used 2CAN, as we read that it its much faster than the serial form of CAN. And this shouldn't matter but it was th last jaguar in our chain. (The sixth jaguar)

All of this was done with a single motor. At the north Carolina regional, we added a second motor and jag. We had the same code, and would justave the output to the new jaguar.
We found that it became less consistent, but after we tweaked the values, we got it tuned back. One thing we did try was having the second motor in brake mode, this worked and controlled the RPM nicely, but it got too hot for our liking.