MichGedd
commented
1 year ago Due to design changes, lets call this the "Intake" now. It will function in a very similar way to what you have here. I would make two commands: Command 1) Allows the operator to manually decide how fast to intake / outtake and in which direction Command 2) Similar to what you have here, you either intake or outtake for a specific number of encoder cycles.
The idea is that motor will move at a certain speed until it passes a certain number of revolutions and then it will stop. This is the case for both opening and closing. Toggle just makes it open if it's closed and close if it's open. I have no idea if my code even makes sense. All numbers are placeholders. Also, I used brushless as the motor type, but I don't actually know the difference, so please tell me if it's the wrong one.