I’m doing most of the code for my team’s robot this year (for Infinite Recharge at Home) and I was thinking of adding PID control to automate our shooter and ensure it launches power cells at a stable velocity rather than the manual approach we took last year. Unfortunately, the pandemic has prevented in-person meetings as well as access to our robot at school, so while I have the code ready, I have no idea what the PID gains should be. I was just wondering if anyone else has a similar problem and how they managed to get a rough estimate for their values. Is there any way I can get somewhat accurate values for the gains by plugging in various details about the shooter into a formula, or a way to get a rough estimate to those values based on the weight, rotational inertia of the shooting mechanism, etc.? If it helps, the PID is for an AndyMark 775 RedLine motor (no gearbox, so 1:1 ratio) controlled by a TalonSRX motor controller using the Velocity Closed-Loop Control Mode. Let me know your thoughts!