paper: Take-Back-Half Shooter Wheel Speed Control

[tr6scott]

A little data on the TBH and wheel performance. Match 54, Livonia competition, TORC went 26 for 28 on 2-point full court shots. 1 for 3 on 3 pointers while hanging, but as you can see from video, the angle while hanging needs to be adjusted up.

Video of match on FB page at: http://www.facebook.com/photo.php?v=...type=2&theater

Excel data can be downloaded from here: http://www.mcbride4.org/wp-content/u...a-Match-54.xls

Data logger on the bot, is recording every 100ms to csv text file on cRio.

We think the two misses are from the driver shooting when there was no disk to shoot, and the disk probably landed on top of the arm instead of in front of the arm pushing a disk that is laying flat. From data you can see driver shot 57 times, yet the only 33 disks touched the wheel. 24 times the arm spun without a disk in the hopper.

Based on the data and time sequence, we can shoot a disk at with angle set and wheel at speed every 1.5 seconds.

This data logger is one of the reasons we won the innovation in control award.

We Love Data.

Scott.

=========================================
RPMCommand = RPM we were telling the wheel to spin.
RPMActual = RPM the actual from feedback photoeye.
MotorControl = Output of TBH to Motor Controller, 0 to 1 on right axis.
RPMControl = How driver was controlling wheel speed, 1 = preset for whole match.
DidShoot = Shooter arm advances when 1 and goes to 0 when it completes it's revolution.
CounterValue = number of disks in hopper, but we removed the photoeye that used to count, as it interfered with disks going to the hopper.