Arm and Wrist

[Muirrum]

@SPD3 is working with CAD to get values for the positions, @themccubbins has a picture of the no-go zones we've defined.

Current value table

Position	Wrist Degrees	Shoulder Degrees	Extension Amount
Low Hatch	-95.5	+4	11.88"
C.S Cargo	-98.59	151	20.92
Low R.S Cargo	-91.12	10.73	25.6
Intake Ready	-43.57	-10.67	20.56
Loading Station	122.11	11.75	26.75
Middle R.S Hatch	57	-147	25.234
Middle R.S Cargo	82.85	-175.52	18.9
High R.S Hatch	89.39	-179.39	0
High R.S Cargo	56.58	-126.16	0

ArmAndWrist

[Muirrum]

https://insiders.liveshare.vsengsaas.visualstudio.com/join?A7DE302355562A2E51B4BC9A95FEB78F341F

[Muirrum]

Todo:

• ~Allow for Teleop Motion through go areas but not no-go areas~

• go to preset positions from current positions without crossing no-go areas

• ~Finish filling out the XButtonArm command~

• ~Finish filling out the YButtonArm command~

• ~Rename the XButtonArm Command and YButtonArm Command~

• ~Change all commands that are directly controlling arm extension, wrist rotation, and shoulder rotation to use units of inches, degrees, and degrees.~

• ~Reset Shoulder encoder at the beginning of the match (need to get the angle of the shoulder joint in starting config from CAD)~

• fix logic for keeping the shoulder on the same side when we place a hatch or cargo low (pass in position and fore/aft)

• make smart graph-based path planner for arm movement commands

[themccubbins]

[FallenHellFlames]

https://insiders.liveshare.vsengsaas.visualstudio.com/join?2464CBDE41C390199470925814864B863CEE

[SPD3]

https://insiders.liveshare.vsengsaas.visualstudio.com/join?F3AAC2941A435430F4C66233C7EC1CFB5F7E

[SPD3]

ToDo:

1. Finish filling out the XButtonArm command
2. Finish filling out the YButtonArm command
3. Rename the XButtonArm Command and YButtonArm Command
4. Change all commands that are directly controlling arm extension, wrist rotation, and shoulder rotation to use units of inches, degrees, and degrees.
5. Reset Shoulder encoder at the beginning of the match (need to get the angle of the shoulder joint in starting config from CAD)
6. fix logic for keeping the shoulder on the same side when we place a hatch or cargo low

[themccubbins]

[Muirrum]

Updated stuff for the code

[ghost]

https://insiders.liveshare.vsengsaas.visualstudio.com/join?255DF2E4E02575C1943E6DC6ED2255DAD97E

[SPD3]

https://insiders.liveshare.vsengsaas.visualstudio.com/join?3FD7A2CE83E3D416E4B2C44FD0DA005C2E45