Efficiently Controlling an Arm
Brainstorming and simulating a code control system for an arm.
I’m back writing another blog post! I am writing this blog post due to the interesting challenge our robot design has presented us in the code (Thanks build team). This blog post will be a bit different as I will be writing about my thought process and how I came to the conclusion of the code I wrote. The Problem Our robot this year has an elevator and an arm with an intake at the end of the arm. The elevator and arm both have a motor and encoder, allowing the code to accurately position and control the height and angle the resulting angle of the intake using PID. The intake’s rotation is locked to the elevator tower, so the intake is at a permanent 45 degree angle. The arm can rotate around over the top to get from one side of the tower to another. However, if the elevator is to low then the intake can hit the elevator tower, giving us our dilemma. How can we effectively control the height and angle of the arm over time to get to a desired position is the least amount of time?
Bevy · Code · Frc · Kinematics · Pathing · Physics · Rapier · Rust · Simulation
7 minutes