paper: Shooter Wheel Speed Control

[Ether]

Originally Posted by billbo911

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!

Here's the logic I had in mind:

if (measured_speed >= target_speed) motor_command = 0.0;

else if (measured_speed >= spinup_speed) motor_command = 1.0;

else motor_command = low_command;

Make "spinup_speed" as low as possible and "low_command" as high as possible, without causing the Jag to shutdown.