These are changes resulting from drive practice this past Friday.
We needed to change POSITION_GRIPPER_CLOSE to be at a lower arm point because the higher value prevented the driver from fine tuning ground pickup from the front of the robot when the gripper is open. However, One concern I have with changing POSITION_GRIPPER_CLOSE is that there isn't much tolerance in terms of when the gripper closes. We will test this further tonight at WPI, but we need to think about how to implement the proper ArmSafety but also allowing fine tuning near the POSITION_GRIPPER_CLOSE. E.g. have a way to override the auto-close, but that would defeat the purpose.
These are changes resulting from drive practice this past Friday.
We needed to change
POSITION_GRIPPER_CLOSEto be at a lower arm point because the higher value prevented the driver from fine tuning ground pickup from the front of the robot when the gripper is open. However, One concern I have with changingPOSITION_GRIPPER_CLOSEis that there isn't much tolerance in terms of when the gripper closes. We will test this further tonight at WPI, but we need to think about how to implement the proper ArmSafety but also allowing fine tuning near thePOSITION_GRIPPER_CLOSE. E.g. have a way to override the auto-close, but that would defeat the purpose.