Rewrite FeedforwardCharacterization to ramp up from 0 to full voltage, and then set the voltage to fully negative. Additionally, make sure that the command monitors the result of position.getAsDouble() and that the robot never goes further forward than the maximum distance, or further backward than the initial starting position.
Rewrite FeedforwardCharacterization to ramp up from 0 to full voltage, and then set the voltage to fully negative. Additionally, make sure that the command monitors the result of
position.getAsDouble()and that the robot never goes further forward than the maximum distance, or further backward than the initial starting position.