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Controlling both the x position and y position of the charger requires two motors to control, but the use of one motor in this class is highly desirable, and we also realized that this class is a mechanism design class and not a controls class. We coupled the two movement together by calculating the linear range of both x-axis and y-axis mechanism and connecting them via a common joint to ensure that one motor was going to be able to drive these two components. One good thing about this design is that although we use one motor for this prototype, we can always use the same mechanism but add another motor to build a fully functional product that is capable of moving freely on the x-y plane to find the port.
The video below shows how the mechanism works with the x-axis movement and y-axis movement are decoupled.
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