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End effectors are devices attached to the end of a robot’s arm to help it interact with the surrounding environment. In FRC, the end effector is basically what manipulates the game piece.
A great example of an end effector can be seen in the 2025 season of FRC: Reefscape. In the image shown, the end effector is the part of the robot that is holding the piece of coral and is able to interact with it.
Programming an End Effector Subsystem
Programming an End Effector Subsystem
Motors & Sensors: An end effector requires at least one motor paired with a beam-break sensor, proximity switch, or current-limit threshold to detect when a game piece is fully intaked.
Feedforward / Hold Power: Simple wheel-based end effectors usually don't need continuous gravity compensation. However, active grippers or pinchers may apply a small, continuous voltage or rely on motor brake mode / current limits to maintain a firm grip without burning out the motor.
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