Launcher flywheel spins down before spinning up, generating extra heat and consuming power

robototes / Crescendo2024

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Launcher flywheel spins down before spinning up, generating extra heat and consuming power #107

Open jamesdooley4 opened 3 months ago

jamesdooley4 commented 3 months ago

When the flywheel is first commanded to spin up after it's coasting down to the idle or stop speed, the motor is commanded to slow down and then speed back up, which generates heat & wastes battery. That seems to particularly impact the bottom flywheel, which spikes three degrees in this instance:

KangarooKoala commented 3 months ago

We should also log the target launcher speed so that we could verify that we are commanded the motor to slow down (as opposed to this being the result of going from idle/coast mode with flywheels still running to trying to move the motors).