Hi guys, my team and I have a problem, and someone out there has a solution.
My team is using a 2-ball catapult, and we have it set up with kind of a snowman of gears.
The smallest/top gear is the one motorized by two torque gears
The medium/middle gear is two gears side by side, one is a normal gear meshed with the top one, and the other is a slip gear meshed with the bottom one.
The biggest/bottom one is the one attached to the arm.
We have a shaft encoder attached to the middle axle to help with keeping the arm in the right position while loading.
Our problem is this: we have to use a single wire encoder(we have no quadrature encoders and we don't have time to get any), which counts a positive tick for both directions, so we can't tell if the arm is too low or too high. This means we have no way of coding it to stay in the same position against the pull of the rubber bands.
We could just give it a constant power to the motors, but then it might be too much or too little due to battery issues.
We could build a ratchet system on the middle/medium gear so that it doesn't even have any stress at all keeping it in place.
We could build a mobile physical stop that slides in to block the arm when it loads, but slides out when it fires.
What do you think? Let me know your opinion!