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# System prepended metadata

title: Ex Dep Programming Planning

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# Ex Dep Programming Planning

## Actuation
### Motors / Sensors:
- Linear Actuator (2)
- Limit Switch (2 per side)
### Logic
- Actuating for digging
    - Run Linear Actuator forward
    - Stop when limit switch near the excavation system is pressed
    - Run process on both sides of robot, wait until both sides are finished to continue to next step
- Actuating for driving
    - Run Linear Actuator backward
    - Stop when limit switch near the chassis is pressed
    - Run process on both sides of robot, wait until both sides are finished to continue to next step
## Excavation
### Motors / Sensors
- Motor for digging gravel (1) (w/ current feedback)
- Motor for moving excavation up and down (1)
- Limit Switch (2)
### Logic
- Digging Gravel
    - Move motor to move excavation downwards
    - Stop motor when limit switch at bottom of subsystem is pressed
    - Start digging motor to run at certain torque
        - Use PID loop and current feedback to change output of motor
        - **TODO:** Check logic to see if more complex current logic is needed
    - Stop digging motor after weight sensor is detected to exceed threshold
    - Move motor to move excavation upwards
    - Stop motor when limit swithc at top of subsystem is pressed
## Deposition
### Motors / Sensors
- Motor for dumping gravel (1)
- Weight Sensor (1)
- Limit Switch (2)
### Logic
- Dumping Gravel
    - Run motor forward
    - Stop when limit switch near end of deposition is pressed
    - Wait for a bit of time
    - Run motor backward
    - Stop when limit switch near the start of deposition is pressed