Team 254: World's Fastest Climb Teaser

[Tom Bottiglieri]

Originally Posted by Jared341

Awe inspiring work as always.

I am most interested in learning about how the climb is software aided. Specifically I am wondering about how you ensure you line up correctly with the 30" bar to ensure you don't "run out of real estate" by 90", and what sensors/control techniques are used to activate the arm retraction at the correct instant. I am guessing a gyro in the pitch axis, along with vision aiding for horizontal alignment.

Also, does the software ensure the arm doesn't extend during the portion of the swing that would angle the arm outside of the pyramid?

Yup, a pitch gyro is the main sensor. We use it to see when we lift off the ground as well as where we are in the swing. We use the position and rate to predict where the arms will end up and either send them to the top or to a safe position right below the bar. The arms themselves are just controlled with an encoder as feedback.