paper: Shooter Wheel Speed Control

[Ether]

Originally Posted by Tom Line

The best tuning of the bang-bang (combination of filter and slew rate) nets us approximately +/- 60 RPM.

Try this: get rid of the speed filter*, get rid of the time-based slew around the control point, and put all three of these operations in the 10ms Timed Structure, in this order, with no other code:

1) read encoder counts from FPGA

2) compute (unfiltered) speed

3) send either 0.0 or 1.0 to motor controller** depending on whether unfiltered speed is above or below the setpoint

* you can filter the speed for purposes of display or logging or control of other logic (such as when to shoot), but don't use the filtered speed for the bang-bang logic

** get rid of all possible overhead in the library, like "motor safe" etc.