Our bot has a shooter with a top and bottom flywheel… Currently, we are using a Closed Velocity Loop to maintain a consistent shot at the goals.
I am thinking about switching the Closed Velocity Loop over to using the setVoltage command to make sure that the we have the proper output voltage from each of the motor controllers no matter the bus voltage or how far down the battery has been drawn.
I see in the WPI_TalonFX API library that it states that this is not a “set it and forget it” command like some of the other CTRE commands. I am thinking that means that i need to call it in a periodic loop. Is that a correct assumption?
However, assuming that your velocity control is well tuned, it will actually work better then voltage control. Velocity control will compensate for anything that slows down the shooter wheel, whether it be friction, voltage, disturbance from a ball, etc. voltage control will only compensate for voltage.
Our closed loop velocity does pretty good most of the time… I got the kP, kI, and kD values from SysID . Feed Forward seems to vary a lot depending on the bus voltage though.
