Take Back Half Ball Shooter Algorithm - The Roboticist · Take Back Half Ball Shooter Algorithm By ... read IME and get tick count ... Motor RPM in relation to Velocity of Fly Wheel

Take Back Half Ball Shooter Algorithm

By Willem Scholten

1 TBHalgorithm.key - November 18, 2015

0

10

20

30

40

50

60

70

1 16

31

46

61

76

91

106

121

136

151

166

181

196

211

226

241

256

271

286

301

316

331

346

361

376

391

406

421

436

451

466

481

496

511

526

541

556

571

586

601

616

631

646

661

676

691

706

721

736

751

766

781

796

811

826

841

856

871

886

TargetRPM

ActualRPM

BVoltage

Gain

Kerror

Target RPM = 50 Sampling Rate: 25ms

First Run of un-tuned TBH algorithmNotice difficulty the algorithm has to find a stable match of the target RPM. This means that both Ki and Ke are not tuned right

2 TBHalgorithm.key - November 18, 2015

Start Program

while 1==1

read IME and get tick count

calculate delta tick count

get system uptime in mSec

calculate delta time in mSec

calculate rpm based on delta tick and delta time

wait 25mSec

3 TBHalgorithm.key - November 18, 2015

Motor RPM and Fly Wheel RPM

RPM

of F

ly W

heel

0

225

450

675

900

RPM

of M

otor

0

10

20

30

40

RPMFW RPM

Sampling Rate: 25 mSec

4 TBHalgorithm.key - November 18, 2015

Motor RPM in relation to Velocity of Fly Wheel

Velo

city

m/s

of F

ly W

heel

0

1.25

2.5

3.75

5

RPM

of M

otor

0

5

10

15

20

25

30

35

40

RPMVelocity

Sampling Rate: 25 mSec

5 TBHalgorithm.key - November 18, 2015