Quote:
Originally Posted by jbbjjbt
Do you agree that the momentary glitch at power up sends them toward the middle 127 (or 8) ?
This is enough to cause issues with buckets dumping or arms unfolding. Setting them to position ahead of time in autonomous may be bad if it takes a long time for the match to start.
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As glitches are.... you shouldn't assume any particular direction of motion.
By definition, before the match starts, your software should not be driving the servos at all. Once you start your Auto program, all the outputs should be disabled until the program is "Enabled" by the FMS. This is definately true of the driver wheels, but also true of the servos (based on the current program templates).
The program inspection process is designed to test this. I don't know how critical they will be of servo motion when disabled, but if an inspector gets fussy, it may put your entire program in question.
Since the servo glitch occurs when YOU turn the 12V power on, then you are free to re-position it after the glitch has occured. Then when the program is "Enabled" it can be told to move to that same starting position, which should have the effect of just locking the arm in that position.
To try out all these scenarios, you should download the Field Management Software and run a "test" match. Goto the Software section of the USFIRST.org FTC page.