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CyberCoyotes / 2023-ChargedUp

Code repository for the 2023 FRC season. We are using Java (command based) for programming. On the hardware side we are using a RobioRio2, MK4 inverted swerve drive modules, primarily Falcon motors, and a Pigeon 2 gyro.
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Command (Stow): Set extension in, wrist in, and wrist up for driving around #35

Closed JediScoy closed 1 year ago

JediScoy commented 1 year ago

The wrist does NOT passively fold in when the arm approaches resting position. This could cause the wrist to be jammed or broken if its flipped down when the arm comes in; I slowly and easily created such a problem position. We need to have something that makes the wrist flip up when the arm comes towards rest. My first couple thoughts: an auto-return button for arm would (a) flip up the wrist then (b) rotate arm into home position OR when the arm rotate is greater/less than a determined "theta" the wrist flips up Solution 1. seems simplest and effective but Solution 2. seems more universally applicable in multiple scenarios (Cole forgets to hit auton return and tries to manual bring arm in while wrist is down)

JediScoy commented 1 year ago

@Fruggg Include with the "StowArmCommand"?

JediScoy commented 1 year ago

Command Group "cgLoad" is written but the current wrist arg command doesn't seem to work.