Our team plans to use PID in the future with our drive to make a very predictable autonomous program. We decided to make a program that would test the relation between the motor speed we set (127 to -127), and the RPM the motor actually reaches. We used an IME on a torque geared motor, and made a program that iterated through the motor speeds at an interval of 5 (so it tested speeds -125 to 125). The motor was set to a speed, and it’s RPM was recorded every 25ms with 200 repetitions, then it would go to the next speed. The results we found were pretty interesting, so I thought I’d post them so you could check them out:
(And here are the associated spreadsheets)
Note: The drop in the middle is where we switch from testing positive speeds to testing negative speeds. There was a long delay to make sure it was tested from a complete stop.
If you have any questions about how the data was generated, feel free to ask.