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GearTooth (hall effect) Sensor
This project demonstrates the use of the integrated hall effect sensor of the Bosh Seat Motor (am-3493) from AndyMark.
DIO Interface Kit (am-3812) *needed to interface with the RoboRIO
In this application the seat motor is being used to control the wrist joint of an intake manipulator. The requirements are to have three preset positions: 0 degrees (up), 45 degrees, and 90 degrees (down). The manipulator begins in the up position, moves down in autonomous, and from there can be arbitrarily moved between presets. In addition, the operator must be able to take manual control in case of sensor failure.
The challenge is that sensor can only count up regardless of which way the motor is rotating. This requires that the subsystem keep track of the current wrist position across multiple calls to the move command.
*This code also demonstrates using the gamepad D-pad to select the desired preset location. The command is mapped to the when-pressed event of a standard button.