The goal is to maintain consistency, with a secondary goal to reduce compression as much as possible, as it doesn't treat the balls very well. We know that at 38mm compression it peaks at 14.4 m/s.
With higher compression, flywheel speed can now reach a peak of 18.9m/s. (at 36mm compression)
While unlikely, it may be better at a higher compression distance (40mm is peak with current setup). You can swap between compression distances, and test as you see fit, as well as tune PIDs to attempt to get the most consistency out of the hero turret.
CONSISTENCY IS PRIORITIZED
Try to get it as high as you can, but once you're above about 15.5m/s, there's no need to bother more as long as you're consistent.
16m/s is the max velocity we can shoot, so if you shoot faster the robot will lose health and die.
Even if you are at a lower velocity, consistency is more valuable than speed.
There is a way to impirically measure at the exit velocity, and I can show you how that is done (MCM). It is built into the barrel and connects to the robot's referee system.
Hero's max exit velocity is 16m/s. However, we have not been able to run more than 14.4m/s, and that is inconsistent.
Tune the PID of Hero's flywheels to be more consistent, and see if that consistency can reach 15.5 or even 16.
Here is a graph of flywheel velocity to exit velocity, with an added variable of flywheel compression: https://docs.google.com/spreadsheets/d/1M1ga469xJokR8_rbAaR6jd7xIUOiEreMWmsiOF_PR8s/edit#gid=0
The goal is to maintain consistency, with a secondary goal to reduce compression as much as possible, as it doesn't treat the balls very well. We know that at 38mm compression it peaks at 14.4 m/s. With higher compression, flywheel speed can now reach a peak of 18.9m/s. (at 36mm compression)
While unlikely, it may be better at a higher compression distance (40mm is peak with current setup). You can swap between compression distances, and test as you see fit, as well as tune PIDs to attempt to get the most consistency out of the hero turret.
CONSISTENCY IS PRIORITIZED
Try to get it as high as you can, but once you're above about 15.5m/s, there's no need to bother more as long as you're consistent.
16m/s is the max velocity we can shoot, so if you shoot faster the robot will lose health and die.
Even if you are at a lower velocity, consistency is more valuable than speed.
There is a way to impirically measure at the exit velocity, and I can show you how that is done (MCM). It is built into the barrel and connects to the robot's referee system.