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FRC-1250 / Team-1250-Crescendo2024

MIT License
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PID tuning for shooter falcons #58

Closed Icarus-21974 closed 5 months ago

Icarus-21974 commented 5 months ago

Tuning to be done after the mechanical changes to the exit and entrance of the shooter mechanism (the grip of the rollers)

Tune P

Tune D possibly (if needed)

Tuning being defined so that the top roller gets up to speed reliably

Rodney-Lewis commented 5 months ago

https://github.com/FRC-1250/Team-1250-Crescendo2024/blob/StatePrep/src/main/java/frc/robot/subsystems/launcher.java#L42 kv = 0.1 results in ~4200 RPM for speaker and ~4700 RPM for podium.

https://github.com/FRC-1250/Team-1250-Crescendo2024/blob/StatePrep/src/main/java/frc/robot/subsystems/launcher.java#L48 kv = 0.12 results in ~4600 RPM for speaker and ~5100 RPM for podium

kv = 0.115 should result in ~4500 RPM for speaker and ~5000 RPM for podium