[mhsrobotics3616]

thanks for the replies. the problem is that we dont want it just hold a position we want to be able to have control with a joystick thats why i thought it be based on power output versus encoder count. i know that for holding a position i can just use the output degree of the encoder as the setpoint.

i like the surgical tubing idea is a good idea it would slow down the force of the gravity on it it would just create the opposite problem coming back up but i think that it would be better having that continuous gradual force rather than the instantaneous force of the shift of gravity..... i actually really like that idea what do you guys think? i could use it for our first segment of the arm... we have 3 segments the first one stays down till we have a crate pickup with the 2nd segment then the 1st goes 90 degrees up and just stops and it would have an easier time going up with an upward force to help it out