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AGHSEagleRobotics / frc1388-2022

FRC 2022 - Rapid React
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Disable intake wheel on retract before hitting limit #61

Closed isabellebowdey closed 2 years ago

isabellebowdey commented 2 years ago

When doing the retract command, we need to disable the wheels a bit before the arm hits, and re-activate when deploy. Use the encoder value to determine when to disable wheel.

This is needed to prevent wear of Neo motor against the battery in some situations

isabellebowdey commented 2 years ago

We tested on Saturday, slows down and works well.