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Re: In search of arm examples
While LogoMotion was a year before my involvement with FRC, I understand from several trusty sources that the most devastating missing component of many LM arms was a counterweight/counterspring. You should design your arm so that it is essentially as much work to bring it down as up. If you do this, it will be much easier to tune the PID so you can move the arm briskly and without too much overshoot/oscillation, whether seeking the peg or the floor.
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