[marccenter]

Andrew,

Merry Christmas.

I was wondering if your model takes into account gathering a game piece? In a robotic arm application, the manipulator could take a trapezoidal profile to accelerate, cruise at steady speed, and then decelerate to zero speed. This is important because the robot manipulator does not desire to ram into it's final position and
damage the manipulator. This velocity profile would seem to match a FRC robot obtaining a game piece. Would this change your model characterisitics significantly and hence your ratio match?

BTW, thanks for "thinking out of the box" for your analysis. Off to breakfast.