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Unread 10-01-2014, 23:06
Paul Copioli's Avatar Unsung FIRST Hero Woodie Flowers Award
Paul Copioli Paul Copioli is offline
President, VEX Robotics, Inc.
FRC #3310 (Black Hawk Robotics)
Team Role: Engineer
 
Join Date: Jun 2001
Rookie Year: 2000
Location: Rockwall, TX
Posts: 1,392
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Re: Build Blitz Robot Reveal - Team Copioli

Quote:
Originally Posted by TheMadCADer View Post
One thing I noticed during the reveal was that the tusk/intake linkage seems to back-drive due to inertia when the robot accelerates quickly. This caused the drivers a bit of trouble when trying to launch the ball with a running start. What would the team plan on doing to fix this problem?
I call it "Zero PID". We could not get it tuned in time for the reveal, but one day of tuning and it would have held position.

Zero PID is simply this: Operator uses the controller to move the arm. When the arm is in the position the operator desires, then the operator releases the controller joystick. Once released, the microcontroller commands the arm to stay in that position using a potentiometer or encoder feedback. I have used this method successfully for every arm game since 2005. This would keep the four bar in position.

Paul
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In full disclosure I am the President of VEX Robotics, a division of Innovation First International.
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