[jmcr8on]

The PID control had already been written and tweaked by a student before we took on the human 'arm' control concept. The turret control was tweaked several times to reduce the amount of human arm movement: a lookup table was created to remove the large 'dead band' due to the victors and overcoming inertia/friction...we associated slight arm movement to higher power values and then ramped it up in increments of 2, then 3, then 5.

The larger headache we had were pots slipping on the shafts. We went through several iterations of fastening and ended up with vinyl tubing and baling wire to allow for flexibility between the shaft and the pot. On the arm we used set screws to set the pot shaft in to position.