For the climbing subsystem we are expecting there to be two extending arms. Each arm will be driven by a single SparkMax Neo motor similar to what was used in the flywheel. These will be controlled over CANbus and have built in encoders. The encoders can be used to determine how far the arms have extended. This is probably best done as a PID control, but this will be different from the flywheel since there the speed of the motor was being controlled, while for this we would just need to control the number of turns.
For the climbing subsystem we are expecting there to be two extending arms. Each arm will be driven by a single SparkMax Neo motor similar to what was used in the flywheel. These will be controlled over CANbus and have built in encoders. The encoders can be used to determine how far the arms have extended. This is probably best done as a PID control, but this will be different from the flywheel since there the speed of the motor was being controlled, while for this we would just need to control the number of turns.