The Arm

Introduction

The arm is a 3 stage nested tube stock assembly powered by springs. Its a design we’ve become familiar with. It is powered by a pair of Rev NEO motors. One for its angle, and another for its extension.

The angle is determined by a lead screw and lifting arm assembly so as to avoid excessive motor load and precise location tuning.

Software

The arm is driven using the embedded PID loops on both its motors. Limit switches limit its maximum extents to protect the robot from damage.

Config Files

arm:
  elevatorMotor: # Drives the spool to move the lift in and out
    MotorPort: 5                 # Updated 1/22 by Keegan
    Inverted: False              # Updated 1/22 by Keegan
    LimitSwitch: 0               # Updated 2/15 by Keegan
    ConversionFactor: 1          # Updated 1/18 by Joe
    Start: 0                     # Updated 3/18 by Keegan

  ladderMotor: # Drives the lead screw to run the lift up and down
    MotorPort: 6             # Updated 1/22 by Keegan
    Inverted: False          # Updated 1/22 by Keegan

arm:
  elevator:
    kp: 0.075
    ki: 0
    kd: 0.1
    ff: 0

  ladder:
    kp: 0.1
    ki: 0
    kd: 0.1
    ff: 0