paper: Shooter Wheel Speed Control

[billbo911]

Originally Posted by Ether

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" and "low_command" as high as possible.

Again, this would be very easy to implement in LabView.

Here's my thoughts on why I didn't jump on this as an option:
1) There can easily be periods of 20+ seconds when the shooter wheel is not being used in a match. During that time, you are just consuming power, even though it may be a small amount, that may be needed later in a match.

2) Depending on where the shooter is in relation to a camera, if you use it as we did, the extra vibration the shooter may be creating can interfere in the imaging process, thus your aim.

3) If a slew rate limiter is used below a certain threshold, then you avoid the possibility of tripping the over-current in the Jag. (Not an issue with a Victor.)

If there is enough interest, I will most certainly create a version that follows the minimum continuous RPM model. Who knows, I might just become a fan of it too.