During my programming, I have been working on an enhancement to the robot driving. As well as using the left-hand joystick to move the lifter up and down, the buttons on the back will raise and lower it to a specific height.
For example, when you press the up one, it will move upwards to the next goal height, pushing again will take it up to the next one.
Similarly, the down button will take it in down increments through each goal height.
This means that you can put the arm to the required height, while the driver is still driving towards it, and will not need to adjust the height when you reach the goal.
I am currently working on speeding up the process.
It is still a bit jerky

Still, getting there!

Still working on it, it is getting better.

Still a few wrinkles to iron out though.

Hey! It is working great now! just push up or down, and it will line up or down to the next goal height!

I have now developed a better program for driving; set buttons move the arm to different goal heights now, one button per height. It is all developed and working well!