Elevator Mechanism

[SoZ0]

From our discussion on and after kickoff, one common threads that appears to be unfolding is the need for an elevator and/or a system to accurately move a mechanism to and from set positions

Goals

• Create elevator mechanism
• add ability to define set-points in useful units (distance from ground, height, degrees, etc..)
• support for powered positions (positions that require constant power to maintain)
• bounds and limits (avoid breaking or over stressing the mechanism by staying within an appropriate range)
• easy control, be able to quickly change to a setpoint from a free control position

Nice to haves

• be able to dynamically adjust set-points based off incoming data (vision)
• automatic control (if the elevator is ready to accept another piece it should immediately move to the appropriate position)
• dynamic control (be able to update the position of the elevator based on current robot position)*
• For example if we are near the feeder station and do not have a coral we should automatically move the elevator into its intake position, the idea is to let the robot do the work and the driver to focus on moving to and from positions