We have researched a lot on this idea and not much seems to be working for us.Īdditionally, the idea has been brought up that I might as well ask here is it reasonable to use battery voltage as a factor and create a wheel speed equation that consistently maintains the desired speed by taking battery power into the equation?īottom line is how can we get a consistent shooter if neither PID nor Bang-Bang theory is working for us? And if there is no other option, why is our code not working? Ultimately, our goal is to make our frisbee shots consistent.
Therefore that leads us to believe that the code was not working for us. The wheel would spin according to the number that was put in, however, the shots we fired were not very consistent. The modified code in there has been tested as well and that seemed to yield some results. When tested, the wheel would either not do anything or would spin at full power. We have 1 stripe on our wheel and thus the numbers on the example were indeed changed from 360 to 1. With the Bang-Bang theory, we used the example provided by Billbo911 located at. Thus far, we have never been able to get PID to work. However, according to the gains we test, the wheel will either not move, jerk back and forth, or spin at full power. With PID programming, we used the counter and wired it into a PID function and attached the output to the motor.
We are using a photoswitch (provided in 2011 KoP) in place of an encoder… Both PID and Bang-Bang have yielded negative results for us. Currently our team is having problems with shooter consistency.
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