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Re: Climb Stopping Mechanism
Step 1: If your climber is a winch, get rid of all of your sensors and use the PDB's built-in current sensors. When Current / Applied Voltage > a ratio (we're using 60A & 12V, so ratio of 5) then disable the motor from going in that direction for N milliseconds.
Step 2: Test
Step 3: Test Some More.
Current through the motor is responsive and reliable to read and react upon. Getting it from the PDB is one of the best things added to the control system in recent years.
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