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Bionic-Bison-5535 / FORTE

"FORTE" is FRC Team 5535's Robot for the 2024 FIRST Robotics Competition, "Crescendo".
MIT License
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Launch system #5

Closed Ethanmejia closed 8 months ago

Ethanmejia commented 8 months ago

Shoots the note by spinning wheels very fast, and aims in to the speaker!

WesleyMcGinn commented 8 months ago

Will need many maths. (:

WesleyMcGinn commented 8 months ago

Key components:

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.

WesleyMcGinn commented 8 months ago

Progress: Raw mode code for launcher is finished and ready for testing.

WesleyMcGinn commented 8 months ago

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.