Excavating

Motors:

• 1x Digging belt (DC)
• 2x Raising and lowering digging belt (stepper)
• 1x Dumping belt (DC)
• 2x Raising and lowering dumping belt (stepper)

Sensors:

• 1x Ammeter for digging belt
• 1x Ammeter for raising/lowering digger
• 1x Ammeter for dumping belt
• 1x Ammeter for raising/lowering dumper

Tasks:

• Dig (lower belt until down; once in place, turn on belt and slowly lower belt so more material can be collected over time)
  • Lower/raise belt at a given speed
  • Setting belt motor to go forwards/backwards at a given speed
• Digging for certain time
• Dumping

Features:

• Being able to unstick the digger by reversing it in the other direction
  • TODO: determine conditions on which digger gets stuck (e.g. if it's brownout conditions or gear slipping)