Good way to bring shooter to exact speed?

[GeeTwo]

Originally Posted by Ether

Because Y is the output to the motor controller, and the integration of Y is always in the direction to drive the speed toward (and then past) the setpoint... which causes a change in the sign of "e".

Ok, that's not how I had read the original thread. Looking back at it I must have misread:

Originally Posted by Ether

The hallmark of TBH is the unique way that the output is reset at each zero crossing.

as

Originally Posted by Not-Ether

The hallmark of TBH is the unique way that the output is only reset at each zero crossing.

Thanks for the clarification - this will save me a whole bunch of heartache as I experiment with TBH on a motor driven launcher.