Lift Requirements

• Have the lift move up and down using encoders
  • Use ramping when approaching desired encoder value by reading value of encoder
• Have limit switches on the top and bottom to stop lift machine when hit as soon as possible
  • Have speed be slow enough that robot does not break
• Home switch is bottom switch
  • Have a button for homing at the start of the match or in case of brownout
  • Make homing slow for accuracy + repeatability
  • The home switch is a limit switch that is at the bottom of the lift
  • Used at encoder position 0
• Have different joystick buttons for operator that go to certain heights using encoder values
  • One at pickup height
  • One at right height for switch (1’ 8 ¾” in approximately 0.24 seconds)
  • One at right height for scale (4’ 5½” -6’ 5 ½” in approximately 0.64-0.92 seconds)
  • One right height for portal(1’ 10” in approximately 0.27 seconds)
  • Overrides manual adjust
  • Operator can also manually adjust height using joystick
• Incorporate PID
  • PID is used to reach to correct encoder value within +-1” from desired goal
  • For smooth motion