Hello fellow Coaches/Mentors!
My team wants to start hanging on the lander and finish latched on. However, due to the gear reduction not being high enough, the weight of the bot is able to back drive the lifting mechanism if the motor is not holding position.
The team has been able to program the motor in position control so as long as the motors are enabled, it works fine. However, when we reviewed the match sequence flowchart (1.5.7 in Game Manual 2), it appears that we have an issue at the end of the runs because the team has to press the Stop button before the referees do their inspection.
I think at the start, they should be fine because during the autonomous program, the Initialization portion of the code can lock the motor. So the team can get the robot in position and press the Init on the Driver Station and it should stay hanging before the start. (Can someone confirm that this is a correct assumption on my part)
The concern is at the end. The bot can hang as long as the program stays running. However, if the team has to press the stop button before the judges inspect end game latching, the bot will drop down.
I suspect that we will need to find a mechanical solution to the issue but I wanted to confirm this first. Thanks in advance for any advice.
My team wants to start hanging on the lander and finish latched on. However, due to the gear reduction not being high enough, the weight of the bot is able to back drive the lifting mechanism if the motor is not holding position.
The team has been able to program the motor in position control so as long as the motors are enabled, it works fine. However, when we reviewed the match sequence flowchart (1.5.7 in Game Manual 2), it appears that we have an issue at the end of the runs because the team has to press the Stop button before the referees do their inspection.
I think at the start, they should be fine because during the autonomous program, the Initialization portion of the code can lock the motor. So the team can get the robot in position and press the Init on the Driver Station and it should stay hanging before the start. (Can someone confirm that this is a correct assumption on my part)
The concern is at the end. The bot can hang as long as the program stays running. However, if the team has to press the stop button before the judges inspect end game latching, the bot will drop down.
I suspect that we will need to find a mechanical solution to the issue but I wanted to confirm this first. Thanks in advance for any advice.
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