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4533-phoenix / DeepSpaceRobot

This is the reprository where the code for the 2019 season is located.
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Create Position Control Mode #21

Closed BearsAreAwsome closed 5 years ago

BearsAreAwsome commented 5 years ago

Position control mode was used for autonomous last year. It might not be as important as last year to create it, as autonomous functions seem to be more focused on cameras this year, but it is important to at least create it.

BearsAreAwsome commented 5 years ago

To create a position drive mode, we first need to set up the magnetic encoders. To do this we use the method .configSelectedFeedbackSensor(). It has three parameters, the encoder that we are using (CTRE magnetic encoder), the PID index which is 0, and the timeout ms, which is 100.

tacoberb commented 5 years ago

closed as a taco is delicious