paper: Shooter Wheel Speed Control

[billbo911]

Originally Posted by Tom Line

We did modify your slew rate calculator from the labview .vi. Most specifically, we modify the last output value with the max change amount, not the input value. I believe that may have been an error in your code.

Here's our version:
http://www.chiefdelphi.com/media/papers/download/3412

An error in my code??? Say it ain't so!

You are correct, that change would make a BIG difference. Thanks for spotting it and correcting it. I'll remove my incorrect version to prevent others from having issues.

BTW, I have uploaded a newer version that completely removes the slew rate limiter and replaces it with a two step, low and full power, version. This new version will allow tuning that both prevents the Jag over current AND allows absolute maximum acceleration from 0 RPM to target RPM.

If you have an opportunity to test it, I would love to hear your take on it.
I will not be able to test it on our robot for another few days.