paper: LabView code for using gearbox with sensor as servo.

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LabView code for using gearbox with sensor as servo.
by: kbmeier

For Recycle Rush, we used a CIM on a gearbox with a rotation sensor as a servo motor to control a multi-stage lift, to avoid backdriving the motor.

To control our multi-stage winch, FRC 1626, Falcon Robotics developed a PID-control based servo system. This system ran in closed mode when the joystick was near zero, such that motor input was controlled to keep the motor near the same position regardless of load. When the joystick was moved away from zero, then the motor was run in open loop mode, reacting only to the operator input. On the transition back to zero, the motor position was captured, and used as the set-point in closed loop mode.

Winch.vi (51.1 KB)