paper: Take-Back-Half Shooter Wheel Speed Control

[Ether]

Originally Posted by Ziv

Now, if you instead have

cval -= (sensorval - goodval) / 2;

which seems to be what you were getting at, then what you secretly have is an integral controller (just the I from PID) with coefficient 1/2.

Yes.

And, just because it's an integrator, and its gain is 1/2, does not make it a TBH algorithm. The hallmark of TBH is the unique way that the output is reset at each zero crossing.