Smoother elevator motion on manual control

FRC2706 / 2019-2706-Robot-Code

The main robot code for the FIRST 2019 challenge: Deep Space

MIT License

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Smoother elevator motion on manual control #108

Closed KyleRAnderson closed 5 years ago

KyleRAnderson commented 5 years ago

Currently, the elevator uses some really nice motion magic on setpoints. For manual control however, the operator directly controls the motor output. This is bad because:

No smooth stopping
Inconsistent elevator velocities, especially when low battery
More jerky motion could be bad for handling game pieces.

The intent is to use velocity controls on the lift when in manual mode, however this only solves the second item. Will need to look into the two others.

KyleRAnderson commented 5 years ago

This has been implemented nicely using velocity control on talons.