IME problems

We put an IME on our Arm motor, and when we use it the encoder value of the arm always increases. We check the value when the arm is all the way down it was 900. We check it now it is 6000. I don’t know why and I don’t know how to fix it.

The problem may be that you are never resetting the encoder value. Every time you turn the robot on and off, the encoder is no longer calculating its position, so if you move it, it will now be in a different position from what the robot thinks it is. Since you didn’t reset the position to a constant value, it seems like it’s constantly increasing. To fix, this, you just need to reset your encoder when you start the program. Keep in mind, however, that you must also start the arm at the same spot every time or it won’t work as intended.