I am trying to find ways to smoothly control the arm of our robot. We are currently using the TalonSRX motion magic control mode, which works quite well for our elevator but only decently for the arm.
The problem is that our belts sometimes slip when we try to move the arm. We could just lower the motion magic acceleration, but the arm is already not moving that quickly.
Controlling the arm is quite bit more complicated than our elevator because the arm has a constant force gas spring on it (the elevator just has a constant force spring) and the torque changes depending on what angle it’s at and if a cube is in it. I was thinking some sort of custom position control that smoothly controls acceleration, from 0 to max Accel back to 0 then to -max Accel and back to 0, like a sine wave, so that velocity would look like a smooth cosine wave, like one big smooth bump.
Any other ideas? We could do a custom feedforward too, but I’m not sure how much time we will get to play around with it before our first competition. Does anyone who’s done a custom feedforward on an arm have any insights?