We have a winch which unwraps allowing our arms to raise. The winch has an encoder.
We zero the encoder, and know when the arms are at full extension (by the encoder value)
We also know how much we need to pull up to get to our ‘hung’ position
Last year we didn’t do a PID. Just checked every loop when extending, and stopped when >=. Its not great but worked well.
Would this be a good candidate for a Trapezoid trajectory? The WPILIB class.
We could find a maximum allowed speed, and an acceleration.
Just looking for advice on the simplest but most effective way to control it!