V3 Counter Rollers, and Left and Right Shooter Data Analysis

Daniel Gonzalez

Goals

• Analyze the data to find the the kF Values of left shooter and counter rollers

• Find the kS values to offset the kF value

• Find the inverse of the equations

• Make a rough blueprint for an SOP

Notes

• There is variation in the all of the kF Values off by thousandths to millionths for each subsystem

• In the equation x = Volts and y = Velocity

Results

• Analyzed the kf Values for the shooters and counter rollers

• Found an average kF Value for shooters and counter rollers

• Found the inverse of the equations

• Made a rough blueprint for an SOP

• Found the kS Values for Shooter left and Right

• Calculated kA Values for Shooter left and right

• Found Feedforward Equation for left and right shooters

Average kF Values

• Right Shooter = 0.123

• Left Shooter = 0.126

• Counter rollers = 0.129

Offset kF Values

• Shooter right = 0.3315359183

• Shooter left = 0.376049244

kF Equations

• Shooter right = y=8.21159x-0.483724

• Shooter left = y=8.16927x-1.20443

• Counter rollers = y=8.22103x-2.69531

Inverse of the equations

• Shooter right = (x+0.483724)/8.21159 = y

• Shooter left = (x+1.20443)/8.16927 = y

• Counter rollers = (x+2.69531)/8.22103 = y

kS Values

• Shooter right = 0.208437

• Shooter left = 0.250255

kA Values,

• Shooter right = 0.021070

• Shooter left = 0.006534

kV Values

• Shooter right = 0.119948

• Shooter left = 0.122817

Feedforward Equation

• Shooter right = Vapp = 0.208437 + (0.119947 • vtarget) + (0.021071 • atarget)

• Shooter left = Vapp = 0.250255 + (0.122817 • vtarget) + (0.006534 • atarget)

• Vapp = The final voltage applied to the motor controller.

• vtarget = Your target speed in Rotations Per Second (RPS).

• atarget = Your target acceleration in Rotations Per Second squared (RPS2)

Continuation

• Find kS value for Counter rollers

• Offset kF value with kS value for Counter rollers

• find feedforward equation for Counter Rollers

• Work on writing an SOP