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…rely well, but that's more a matter for feat/swerve-drive-tuning or something)
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Also note we fixed the cosine error limit thing (although I'm not really sure how well it works) and temporarily disabled inverting the wheels whenever error >100 degrees for testing, need to add that back in |
jkleiber
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Mar 20, 2023
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comments about deadbands
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| // if strafe is very small | ||
| if (abs(final_strafe) < 0.15) { | ||
| final_strafe = 0.0; // then zero it | ||
| if (abs(strafe) < 0.15) { | ||
| strafe_ = 0.0; // then zero it | ||
| } |
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Why don't we have a similar deadband for drive power?
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Consider this link as well for an "outer deadband" (also linked in that swerve doc): http://blog.hypersect.com/interpreting-analog-sticks/
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| OKC_CALL(TeamOKC::WrapAngle(&left_front_turn)); | ||
| OKC_CALL(TeamOKC::WrapAngle(&left_back_turn)); | ||
| OKC_CALL(TeamOKC::WrapAngle(&right_front_turn)); | ||
| OKC_CALL(TeamOKC::WrapAngle(&right_back_turn)); |
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Why are we duplicating the lines above this?
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Makes the teleop swerve drive code be field-oriented for a better driving experience. First driver has tested it and says it is a definite improvement. I've tested it and it works, although we haven't taken any hits yet. Could use some tuning