paper: Shooter Wheel Speed Control

[mjcoss]

We have the setup that you're looking for, and I'd be willing to run the test. I'm just not sure how to collect the test data. Do you know if the elapse time for a command is just when the "SetSpeed()" function returns?

So that
t1 = GetClock();
jag->SetSpeed(500);
t2 = GetClock();
elapse time = t2 -t1

Or are you looking for something more complicated? We're currently running the PID loop on the Jaguar, and I'd wish I'd seen this earlier. I might have changed what we were doing as this looks like it might get us what we wanted without the headaches of the PID controls on the Jaguars.

Originally Posted by Ether

For a setup with the shooter wheel speed sensor (encoder) plugged directly into the Jag, could some please estimate (or better yet provide test data for) the elapsed times (t1, t2, t3) for the following sequence of events?

a) at t=0, send a request to the Jag via CAN for a speed signal
b) at t=t1, receive the requested speed signal from the Jag via CAN
c) at t=t2, send a new command (based on the speed signal) to the Jag via CAN
d) at t=t3, the Jag receives the new command