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FRC1756-Argos / 2017-Robot

Robot code for 2017 FRC Season
GNU General Public License v3.0
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Operator Assist: Shoot #60

Closed dkt01 closed 7 years ago

dkt01 commented 7 years ago

This should feed fuel into the feeder when a boolean input is true, the shooter speed is adequate, and the turret is correctly aimed. Another input should allow manual shooting when the other criteria are not satisfied (manual override).

dkt01 commented 7 years ago

New details stemming from #62:

Now this needs the following states:

  1. Queue fuel
  2. Recover
  3. Shoot
  4. Idle

In "Queue fuel" all feeder rollers should run until a boolean input indicates fuel is positioned for shooting, then the top roller should stop and the bottom rollers should continue. While another boolean value is asserted, the state should advance to "Recover". The state advances to Shoot when the shooter speed is adequate and the camera indicates good aim. In shoot, the top roller advances fuel to shoot until shooter speed or aim is not good anymore, then it goes back to "Recover". While in either "Shoot" or "Recover", if the boolean shoot command is ever false, state should go back to feed. Another boolean value should immediately change the state to Idle (full manual control).