pic: Team 45 teaser

[Alan Anderson]

Originally Posted by Max Lobovsky

What encoder are you using there?
Are you going to use three for truly absolute positioning, or just two and assume your robot won't slide sideways? (I assume your drivetrain is skidsteer of some sort)

I don't recall the encoder part number or manufacturer. It's standard quadrature output, 64 counts per revolution, rated for several hundred RPM. I do know the one we're using is the less expensive version of its ball-bearing cousin.

We have three of them mounted on the robot, all in a straight line (figure how that works if you can). Slip in any direction is expected and accommodated. The software to deal with them is surprisingly simple (except for the extra hoops it takes to use the third hardware interrupt).

[Max Lobovsky]

If they are in a line but not oriented the same way, then I know how you are doing it. I realized that would be a better after that rendering was made months ago.

I assume there is going to be a torsion spring at the shaft (or a compression spring on the arm itself), or are you having gravity do the trick?

[Alan Anderson]

Gravity will probably be sufficient, but there's a small torsion spring just in case.