Changes between Version 46 and Version 47 of RobotDevelopment

Timestamp:

Feb 15, 2015, 8:44:42 AM (10 years ago)

Author:

jzhu

Comment:

2/15 update after test

RobotDevelopment

@@ -18 +18 @@
 * sensors want 4 (2 in practice) 9-deg sensors to provide arm angle relative to support pillar 
 * potentiometer failsafes -- will be used only if 9DF sensors don't work out
-* 2 limit switches (top & bottom hard limits)
+* No more hard limits. Use 9 deg freedom values as soft limits
 ==== Actuators
 * 1 CIM motors
@@ -24 +24 @@
 ==== Code
 * top/bottom range calibration
-* preset positions (6-8 possible, check with Game) and manual move up/down
+* Arm movement to be controlled by xbox joystick for a range of speeds (Preferably Right joystick) 
+* Want - preset positions (6-8 possible, check with Game) and manual move up/down
 * hard software limits --> must satisfy
 * needs to be able to detect if unspooling and stop motor
@@ -43 +44 @@
 * only 2 positions: open, closed
 * when the claw is below a certain level off the ground (TBD), the claw must be in the closed position
+*Claw Open / Close on xbox triggers - Open on left
 
 === Motor Implementation
@@ -64 +66 @@
 Actuators[[BR]]
 * 4 CIM Motors
+Code[[BR]]
+* Increase joystick deadzone
+* Joystick trigger press = straight motion. Possibility to use encoders to find motor speeds in closed loop.
 
 '''Hook'''[[BR]]
@@ -70 +75 @@
 Code[[BR]]
 * When the Arms is down, Hook MUST be in the closed position
+* Actuated on xbox bumpers - Open on left 
 }}}
 |----------------