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Unread 03-12-2012, 23:16
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JVN JVN is offline
@JohnVNeun
AKA: John Vielkind-Neun
FRC #0148 (Robowranglers)
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Re: Balancing an Arm

Quote:
Originally Posted by Brandon_L View Post
Im quite interested in how 148 decided on where to have your arm balanced. Just straight out horizontal? Or something game specific like near the top rack in logomotion?
In 2011 we disconnected the motor from the gearbox and balanced at about horizontal as baseline value, then tweaked until the drivers & programmers were happy. In some years, we've had to reduce this amount due to the arm lifting up at the starting position. In 2011 we had a very simple "drive until position, then cut power" control scheme. Combining the Victor brake-mode with surgical tubing balance and this control allowed for easy pre-positions.

We tuned in surgical tubing & position code through iteration -- test, tweak, repeat. (Iteration is always the answer, of course.)

In my experience, it is better not to overthink it, just add some surgical tubing and tune it to taste...

-John
 


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