paper: FRC #33 The Killer Bees 2013 Software - BuzzXVIII (Buzz18)

[apalrd]

Originally Posted by JamesTerm

Mechanical engineers (except for Jim Zondag) think I'm crazy for wanting to control velocity

-Jim is actually an electrical engineer

-We do like velocity controls as well, but we haven't implemented them since 2011. I think that would be a logical improvement to this system.

-That said, a simple PI controller to speed does not have a fast enough response time for drivetrain usage. We did this in 2011 and turned the gains WAY up for fast response, and oscillations weren't very good, but it worked.

-A better solution is one of the better speed control algorithms designed for shooter flywheel speed control (2012 was especially big on this, 2013 less). We ran a PI-FF algorithm with a feed forward equation (now we would just use a table), which is an improvement