02/18/2024 Shooter PID Testing From: Wing

Angle encoder: 259.5

Note from Devin: Add 180 degree offset to the pigeon in configs

4000 rpm pid gains:

top p: 0.05 top i: 0 top d: 0.1 top v: 0.0115

bottom p: 0.14 bottom i: 0 bottom d: 0.11 bottom v: 0.01165

5000 rpm pid gains:

top p: 0.05 top i: 0 top d: 0.1 top v: 0.0113

bottom p: 0.25 bottom i: 0 bottom d: 0.11 bottom v: 0.014

Shooter testing:

Distance from Speaker: 19 feet 3 inches (Wing)

Angle: 259.5 RPM: 5000 Result: Consistently hitting front half of speaker (too high)

Angle: 257.5 RPM: 5000 Result: Made most (4/7) in, 2 of them went too high, 1 went too low

Angle: 256.5 RPM: 5000 Result: Changed feeding technique, went too high for most of them, made only 2 out of 7.

Distance from Speaker: 15 feet 3 inches (Stage shot)

Angle: 259 RPM: 5000 Results: 100% money!!!! first try

Distance from Speaker: 10 feet (Podium)

Angle: 267 RPM: 5000 Results: 8/8 holy smokes!