Arm pseudo code

ARM:

1. Grab cube (claw) <-- clarify with design team once claw is chosen
2. Arm up (lead screw 2 spines) 2 motors Arm swing 135 degrees (encoder) (1 motor)
3. Go to scale/switch (drive train)
4. Release cube (claw)
5. Swing arm back to starting position (encoder)
6. Arm back down(lead screw)

ARM CLIMBING:

1. Arm all the way up Swing arm 180 degrees (encoder)
2. Place "hook" on rung (with arm) <-- clarify with design team once hook is chosen
3. Start climb

Motors: Victor (4 motors for now)

2 Motors for lead screw spine 2 Motor for rotation of arm

Sensors: Encoder for now

FUNCTIONS:

Arm-

set speed
check encoder
check limit switch
restart
hold in place (?)
end

Spine-

set speed
check encoders
check limit switch
hold in place
restart
end