[K.Porter]

The arm moves quite smoothly with the rings as a load. We have flow control valves on the pneumatics at both ends, so the arm moves at a rather constant speed up and down. (although, it admittedly is a little more jerky on start/stop then I would like. It's bearable)

As for height, it's currently just by eye. For the Tetra competition, we did mount magnetic sensors on the cylinder, that would act similar to limit switches when the piston reached points within the pneumatic cylinder, but they were never wired for that competition. We could do similar for this years after a little bit of tweaking to figure out the heights of the rack relative to the arm.

Most likely, though, our lift arm will be powered by an electric gearing rather than pneumatics, although in a very similar configuration.