marnovdm
commented
3 years ago As you can see I modified your base a bit (using the turntable setup from the rough terrain crane which is really smooth) and used a really simple method to mount the color sensor 
Making a video is difficult for me so unfortunately that's something for another time :) hope this helps!
This adds support for holding d-pad up/down to modify the speed of movement, which makes it a lot easier to make small adjustments to angle the robot arm just right.
It also adds support for an optional color sensor which can be mounted to the waist. In combination with some red and blue bricks this makes it easy to align the motor waist to 2 specific points of rotation, which can be useful if you want to move some stuff from point A to point B or something. This can also be kind of dangerous though because if the arm is hanging on the ground or encounters something while moving to the new alignment point, then that's not really handled gracefully :smile:
Also some minor cleanups/fixes to the rest of the code but that's not really interesting.
I still want to modify the grabber to adjust it's grip while rotating the rest of the arm, because right now when you keep rotating the last part of the arm, eventually the grabber will get stuck or start opening. Ideally it would adjust the grabber automatically to maintain the current grip. But that's something for a next pull request.