Decide Arm Transition control scheme

[Piphi5]

To minimize loss in takeup during the arm transition, we need some way to control the relative rates at which the arms move with respect to each other. It's important to note that currently, due to the low resolution of the hall effect sensors being used, there may be issues with sensor measurement latency and overall velocity accuracy.

The ideal control scheme would be to setup trapezoidal motion profiles for each arm and constrain the cruise velocities to be at the rates we desire. However, this means that the arms would be completely controlled through velocity which we are not sure is a viable option due to the reasons cited above.

Another control scheme we may need to consider is where we set intermediary position setpoints based off of the relative rates until we reach the desired positions. A consideration with this approach is that constantly changing set positions may introduce derivative kick to our PID controller.

[Piphi5]

Update: After talking to Dr.Chung, we will most likely be moving forward with the second control scheme of intermediary points. We will mitigate the derivative kick by differentiating our position (thus we are effectively only dampening velocity) instead of error and we will implement a higher order numerical differentiation to increase smoothness.