Task list and status of the Arm mechanism software:
1. Validate geometry assumptions: This was done with Ed, and it looks like the Final arm assembly will be partially extended in the cube pickup position and would need to be retracted before it can move to other positions. Software would need to accommodate retracting to not violate rules (prior to arm changes, it was going to be fully retracted at pickup). This task is done
2. Basic commands (command building blocks to control individual pieces of the arm/extension/claw): done, not tested
3. Extension mode programming: Math and strategies for arm extension have been discussed. Arm extension strategies implementation is done, testing for strategies is done.
4. Manual operation of arm: This would included the fine tuning of the arm manually up and down including the extension controls, using the joystick. This is done
5. PID controls for arm stall current: this will apply PID logic to the arm up/down motor to keep arm from sagging. Implementation is done though not yet verified in real life
6. Gyro programming: This would add mode to the claw movement to put it in horizontal position. Done, not tested.
7. Claw modes: done
8. Stall current detection: Add stall current detection to motors as necessary. Not done
9. Change Software PID to hardware PID for arm and extension to accommodate new wiring of POT. done
External dependencies and unknowns:
- PID testing to see if arm can be kept in place (if this is not working as expected user control through stick is planned)