Quote:
Originally Posted by TheMadCADer
One thing I noticed during the reveal was that the tusk/intake linkage seems to back-drive due to inertia when the robot accelerates quickly. This caused the drivers a bit of trouble when trying to launch the ball with a running start. What would the team plan on doing to fix this problem?
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I call it "Zero PID". We could not get it tuned in time for the reveal, but one day of tuning and it would have held position.
Zero PID is simply this: Operator uses the controller to move the arm. When the arm is in the position the operator desires, then the operator releases the controller joystick. Once released, the microcontroller commands the arm to stay in that position using a potentiometer or encoder feedback. I have used this method successfully for every arm game since 2005. This would keep the four bar in position.
Paul