For the benefit of people who are rebuilding their flywheels or doing FRC Stronghold and are not familiar with VEX forums, here are some threads you may want to read for the additional information on optimizing flywheel launcher.
First of all, there is a continuation of the measurement noise discussion and some more graphs from my experiments in the moving average thread.
Then there are two important threads by @jpearman on measurement noise and handling it in RobotC. It is a must-read if you are running multiple tasks.
Several threads are discussing optimal mass of the flywheel for the launcher (another one here) as well as the discussion of the flywheel consistency.
Also, related to the flywheel mass are the discussions about improving firing rate: 16957, 17410, and you simply cannot miss wild speculations around 4664C’s mystery launcher.
Finally, there are discussions of the speed control algorithms starting with bang-bang, take back half, PID controller in depth, and PID theory as applied to the flywheels.
In addition to understanding importance of handling measurement noise in the velocity readings for good flywheel speed control, you may want to think about delays in the control loop that affect stability of the algorithm and how using different motor ports influence that.
Once you done with the theory, you could take a look at the hybrid flywheel PID code, which we field tested and it seem to be working quite well.