"Waffle" East Angelbots 1339 Offseason Project

[Sl3dman]

Originally Posted by Bluman56

I can imagine putting an encoder or (probably even better) a potentiometer to the extending mechanism to program it to stop going forward when the grabber is aligned with the pipe.

I'm curious what the team is doing (if anything) to address that.

Actually, we are indeed using an encoder (which is reset by some limit switches that the linkage hits when in its upright position) and a PID loop to track how far forward the linkage is from the robot. The only problem is that the pipe isn't always at the same position in the box which proves to be a challenge for automation. So we ended up deciding that it would be better to overshoot the game piece by a little bit rather than coming up short to it.