We have an arm with a clamp on it to grab and lift up baskets. The problem we are having is at the end of Tele-Op the servos remain under some power for just a little bit but eventually completely relax. When this happens our clamp relaxes and drops our basket. Is there anything we can put into our code that would keep the servos in position at the end of the Tele-Op period?

No, when TeleOp ends, power to the servo is cut, so it will go limb. Our team has the same problem. We wish we had thought about it before and we would have designed it differently.

In our case, the problem was solvable by putting a weak elastic across our actuator. The hard part is finding the right strength of elastic: weak enough so the servo is not constantly struggling too much, and strong enough to hold the parts together when the servo is shut off. Another solution is to gear the servo, or put some friction on it, so that it holds in position when power is cut.

Yes, you really have to make sure the servo doesn't struggle too much. We fried a couple servos this season because of too much friction.

In later years, whenever a servo was needed, we geared up a continuous rotation servo and installed a potentiometer.