We can't get our robot's arm to stop at the setpoints

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Hey! Our robot’s arm won’t stop at the setpoints we set. this is our code: GitHub - karyabsrnr/arm24

any help is appreciated :slight_smile:

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What is/are the relevant file(s) for it?

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Nevermind, found it. Unfortunately I can’t help though.

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Wdym by won’t stop at the setpoint? It falls because of gravity?
If so (and anyways), I advise having some sort of kG value that’ll keep your arm in place. The kG (or feedforward) output should be cos(angle) * kG
You can calculate kG using sysid or manually, and apply it doing something like:

double kgOutput = Math.cos(setpoint.position);
m_spark.set(kgOutput + output);

Just make sure you’re inputting radians into Math.cos

I advise you look into the ArmFeedforward class to calculate the other ff outputs

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not because of gravity, it just won’t stop unless we disable it , it keeps on turning

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Oh, that’s probably because you didn’t implement getMeasurement()
You should return the encoder’s position there

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