Closed Ethanmejia closed 8 months ago
Will need many maths. (:
SparkMaxs 7 & 8: Thrusters SparkMax 9: Feed Motor (feeds note into thrusters) TalonSRX 24: Aim Motor (angles launcher up/down) CANcoder 25: Aim Encoder (detects relative angle of launcher)
Math equation used will involve solving for the desired angle of the launcher (set angle for 24 based on value read from 25) based on limelight inputs ty
and ta
. Before launching, tx
and perhaps our custom function Limelight.yaw()
will be used to rotate the robot to point accurately towards the speaker.
Progress: Raw mode code for launcher is finished and ready for testing.
Since aiming with the use of the limelight is more related to Smart Mode than it is to getting the launch system working, this issue will be considered complete once launching can efficaciously function in raw mode.
Shoots the note by spinning wheels very fast, and aims in to the speaker!