Granite State + Simplified Arm Code + Driver Assist

DevilBotz2876 / ChargedUp2023

Code for the FRC 2023 Robotics Competition

Other

3 stars 0 forks source link

Granite State + Simplified Arm Code + Driver Assist #106

Closed BrownGenius closed 1 year ago

BrownGenius commented 1 year ago

I added a ArmToPosition() command that is much simpler and replaces ArmToTop, ArmToMiddle, ArmToEtc.

BrownGenius commented 1 year ago

@loafdog I agree. Unfortunately, we weren't able to test the robot last night at all because electrical issues. This change primarily should fix the MoveToXXX commands and make them more reliable. However, I don't think we will be able to use that functionality today. I think Adi will just have to set the arm height manually tonight. So, yes, unless we get to test this on a robot, we should wait before pulling it into main.

BrownGenius commented 1 year ago

I merged the granite_state branch into the simplified arm stub branch. I verified that the arm/gripper controls work as expected in simulation. I created a testing checklist that we should use as a guide for testing functionality here: https://github.com/BHSRobotix/ChargedUp2023/blob/7cdba9a73bb78bb3a0af76e18ab89b356b6bb8b3/README.md#testing-checklist

We should verify this branch on the competition bot before pulling into main.

BrownGenius commented 1 year ago

I added the Driver Assist functions and tested in simulation using the following shuffleboard tab

BrownGenius commented 1 year ago

I also added a raw hardware shuffleboard tab for HW debug: