Turret - Githubissues

BitBucketsFRC4183 / FRC2020_Infinite_Recharge

Team 4183's repository for our Infinite Recharge robot's code

5 stars 10 forks source link

Turret #252

Open cpostbitbuckets opened 4 years ago

cpostbitbuckets commented 4 years ago

If we have a turret, we need some basic functionality for it.

[x] Limit switches and zeroing solution
[x] Test align to target
[x] Re-enable turret control (call azimuth.set() in periodic)
[x] Combine autoAim azimuth and autoAim elevation into single auto aim function
[x] Figure out autoAim absolute/relative issue with limelight coords
[ ] When intake is up, turret should be set to 0 degrees
[ ] When intake is up, disable turret (or just set to 0 every loop)

cpostbitbuckets commented 4 years ago

Last night's autoAim functionaliity appeared to be commanding telling the turret to rotate to the limelight tx, but not taking into account the actual position of the turret. I.e. if we were at -10, and the limelight was at -20, we commanded to -20, not -30.