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* code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface
* field oreinted scoring written, builds, untested * field-oriented scoring tested, works * left and right bumpers for pickup positions so we can pickup on both sides of the robot
* code for new intake with wrist still need to write commands for it though * actually create hardware objects for the new intake * update values from hardware in the software interface * wrote commands to move the wrist to a certain position, either just straight to a position or incrementing it * bind some of the wrist commands we need * wrist tilt encoder on shuffleboard * clean up the intake commands and add some more OKC_CALL stuff * add an offset to the tilt encoder * fix intake parameters * more okc checks
…otics/FRC-2023 into scoring-integration
…spot and fix the setpoints
…otics/FRC-2023 into scoring-integration
danielbrownmsm
requested changes
Mar 30, 2023
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I'll go ahead and make these changes, but I'm leaving this review so Sai can see how the process works
build.gradle
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| // Set this to true to enable desktop support. | ||
| def includeDesktopSupport = true | ||
| def includeDesktopSupport = false |
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need to change back to true
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| // set output | ||
| this->interface_->arm_lift_power = this->arm_pid_->Calculate(this->state_.rotation); | ||
| double ff = TeamOKC::sign(this->desired_state_.rotation) * arm_kF_ * this->desired_state_.rotation * this->desired_state_.rotation; |
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add a comment about what this is actually doing
src/main/deploy/parameters.toml
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| [arm.negative_pickup] | ||
| extend_setpoint = 20.0 | ||
| extend_setpoint = 50.0 |
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why is there another extend setpoint here?
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ok |
danielbrownmsm
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Apr 4, 2023
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lgtm, and then we can merge the feat/GKC branch
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Added feedforward to arm control.
Fixes #52