Refuse vehicle lift assembly with closed-loop control

A method of controlling a refuse vehicle including a chassis, a track movably coupled to the chassis, and a grabber movably coupled to the track and configured to engage a refuse container, the method comprising:

• receiving, from a first sensor, track position data indicating a position of the track relative to the chassis;
• controlling a track actuator to move the track relative to the chassis based on the track position data;
• receiving, from a second sensor, grabber position data indicating a position of the grabber relative to the track;
• and
• controlling a lift actuator to move the grabber relative to the track based on the grabber position data.

A refuse vehicle comprising:

• a chassis;
• a body coupled to the chassis and configured to store a volume of refuse;
• a lift assembly including:
• a track coupled to the chassis;
• a track actuator configured to move the track relative to the chassis between an extended position and a retracted position;
• a track position sensor configured to provide track position data indicating a position of the track relative to the chassis;
• a grabber coupled to the track and configured to engage a refuse container;
• a lift actuator configured to move the grabber relative to the track between a lowered position and a raised position;
• and
• a grabber position sensor configured to provide grabber position data indicating a position of the grabber relative to the track;
• and
• a controller operatively coupled to the track position sensor and the grabber position sensor and configured to:
• control the track actuator to reduce a speed of the track in response to a determination that the track is within a first threshold distance of the retracted position;
• control the lift actuator to reduce a speed of the grabber in response to a determination that the track is within a second threshold distance of the raised position;
• and
• control the track actuator to bring the track to the retracted position and control the lift actuator to bring the grabber to the raised position at substantially the same time.