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Arm Mechanism

Rotary mechanisms enable the pivoting of mechanisms through rotational movement. These mechanisms come in many shapes and sizes. The arm mechanism is designed to control a pivot joint that rotates to a desired angle. It supports position control, velocity control, and duty cycle control while handling sensor conversions and simulation behind the scenes.

2910 pivot arm6036 pivot arm

Common Use Cases​

  • Intake pivots
  • Shooter or hood pivots
  • Climber arms

Typical Controls​

  • Position control for moving to a fixed angle.
  • Velocity control for constant-speed motions.
  • Duty cycle for manual/teleop override.

Common Methods​

  • setTargetPosition(angle)
  • setTargetVelocity(angularVelocity)
  • setTargetDutyCycle(dutyCycle)
  • getCurrentPosition()
  • getCurrentVelocity()

Tips​

  • Use motion constraints in your higher-level subsystem if you need soft limits.
  • Always keep units consistent (radians for angles).