Shooting

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Sequence

  • Deploy roller frame
  • Release Winch
  • Shut down Winch drive
  • Lower "Boot"
  • Engage Winch
  • Tension Winch

Specs

  • SA Solenoid -> Slingshot angle
  • SA Solenoid -> Winch release <---
  • CIM with Jag -> Winch motion ---^ <- PID
  • Load Cell -> Winch control/Will PID set points be variable?