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AGHSEagleRobotics / frc1388-2013

Automatically exported from code.google.com/p/frc1388-2013
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Add differential servo trim to climber #30

Open GoogleCodeExporter opened 9 years ago

GoogleCodeExporter commented 9 years ago 
A suggestion was made to add differential servo trim to the climber.  This 
would allow the servos to be at a slightly different position, to "tip" the 
hook assembly left or right, if it's not lined up correctly with the tower.

My suggestion would be to use the X-axis on the climber joystick, with a large 
deadband.  The X-axis value could add a small amount to the right servo while 
subtracting the same amount from the left servo, and vice versa.

I would recommend to set the maximum left/right variation to a pretty small 
amount at first, to make sure we don't over-twist the mechanism.  A "small" 
amount would be relative to the total range of control values for the servos.

This needs to be discussed with Cody before deploying the change to the robot.

Original issue reported on code.google.com by jtec...@gmail.com on 29 Mar 2013 at 1:22

GoogleCodeExporter commented 9 years ago 
Trim functionality appears to work based on development board testing. Changes 
will likely need to be made after testing of this is done on the robot. Marked 
as fixed until it is verified to work.

Original comment by Joelsbr...@gmail.com on 30 Mar 2013 at 11:32