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FRC-1250 / Team-1250-Crescendo2024

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IntakeCenterNote.execute is has bad target? #32

Closed qwbmo closed 6 months ago

qwbmo commented 7 months ago

Two things... the target passed to the isWithinRangeOfTarget and the value passed to the setPosition() function should reference the same value os if they change, they change together. In the code below, if the position is 0, but the Position.HOME is changes to 1, the arm will never move.

image

Also, the shoulder positions... image ...seem to reference angle in degrees away from home, but this is not how the shoulder is commanded in practice: image

It looks like there is an encoder offset value: image ...we should double-check that value tomorrow. Based on what we saw today, I don't think the arm can get to zero.

Rodney-Lewis commented 6 months ago

Shoulder position enum and encoder offset have both been adjusted. "Magic numbers" have been replaced with their correct shoulder position values.