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End of Tele-Op Problem
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Rookie

Joined: Mon Dec 19, 2011 5:06 pm
Posts: 2
End of Tele-Op Problem
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?

Wed Jan 25, 2012 10:49 am
Guru

Joined: Sun Nov 15, 2009 5:46 am
Posts: 1523
Re: End of Tele-Op Problem
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.

Wed Jan 25, 2012 3:34 pm
Moderator

Joined: Tue Sep 14, 2010 9:19 pm
Posts: 496
Re: End of Tele-Op Problem
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.

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Wed Jan 25, 2012 4:54 pm
Guru

Joined: Sun Nov 15, 2009 5:46 am
Posts: 1523
Re: End of Tele-Op Problem
 magicode wrote: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.

Wed Jan 25, 2012 5:07 pm
Moderator

Joined: Tue Sep 14, 2010 9:19 pm
Posts: 496
Re: End of Tele-Op Problem
In later years, whenever a servo was needed, we geared up a continuous rotation servo and installed a potentiometer.

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Wed Jan 25, 2012 6:37 pm
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