KyleRAnderson
commented
5 years ago The two items in this issue have been implemented in separate branches, both of which are ready for testing.
Lift setpoints is in improve-setpoint-pov.
Lift override is in fluid-trigger-lift-override.
After competition there are a couple of things that I would like to do with the operator controls:
For the first point, setpoint controls rely on the D-Pad button bound to the setpoint to be in exactly the right position, which even if the controller is great doesn't happen all the time. The intended solution to this is to keep track of the last bound control pressed (UP, DOWN, LEFT, RIGHT) and then if the operator goes to one of the in-betweens, it runs the last bound control on the D-Pad. For example, if the operator pressed DOWN and then accidentally went to DOWN-RIGHT, the action bound to DOWN would still be run.
For override lift, this may not be something I want to continue with for sure but it would increase available controls if the action was bound to holding down on the manual lift control (the left stick) and moving the joystick. Speed would still be fixed to something small, but it would free up two buttons.