SuperStructure Arm

Requires:
FeedForwards
PID

Success Criteria

  • Create an Arm subsystem
  • Set Encoders
    • find the encoder range and conversion to have real-world angle values
    • Find the system range, apply soft limits
  • Get control
    • Determine the system Gravity feed-forward value
    • Create a PID controller
    • Tune the PID to an acceptable level for control
  • Create a default command that holds the system at the current angle
  • Create a setAngle function that takes a angle, and returns a command that runs indefinitely to the target angle
  • Create a Trigger that indicates if the system is within a suitable tolerance of the commanded height.
  • Bind several target positions to a controller
  • Create a small auto sequence that moves to multiple positions in sequence.
Interactive Graph
Table Of Contents
SuperStructure Arm
Success Criteria