Creating A Variable Motor Control
 

I've been trying for the last three hours to come up with a way to control the motor speed with every tote that I pick up. So for instance I have a stack of 3 and we push a button to grab the fourth one and get that under the stack of three that we already have and while that is going on the motors then get limited by a certain amount so that it's not going as fast as what it was before that fourth one is obtained but is more stable and has a less chance of spilling the crates when it suddenly breaks or get's hit by one of your alliances robots. Does anyone know of a possible way to create something along those lines? Even if you know a small bit of how to possibly do that I would very much appreciate the help? Many thanks in advance.

Re: Creating A Variable Motor Control
 

You can control your lift motor speed with PID (or other closed-loop control algorithm), and the driver can select different speed setpoints as required using buttons.

Or, simpler but less accurate, you can use different open-loop motor voltage.

Re: Creating A Variable Motor Control
 

Since I was referring the drive train motors would what you said work the exact same? Sorry if I wasn't clear in my original post.

Re: Creating A Variable Motor Control
 

Are you asking how to counteract the fact that the robot gets slower when it picks up more totes? Or are you asking how to make it slower when it is carrying more totes?

Re: Creating A Variable Motor Control
 

I'm trying to make it slower with each tote that is obtained. Again, I apologize for any confusion.

Re: Creating A Variable Motor Control
 

Do you want it to do this automatically, or would the driver manually switch modes?

If it needs to be automatic, then you first need to be able to determine how many crates you have (with sensors). If the driver selects the mode, then this can be implemented without any additional hardware.