[Team 135]

We have used encoders in the past to find where our arm in, for a number of reasons, and have had great success. We attach a second rope to the arm, and as it goes up it pulls the rope around the encoder. The way that we have reset the encoder is with a magnetic proximity switch. When the are comes all of the way down, it pulls up the switch and triggers the reset command in the programming.

hopes that helps

Anthony
Team 135