Subsystem Initialization Checks

FRC2706 / 2019-2706-Robot-Code

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

MIT License

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Subsystem Initialization Checks #137

Closed ryanlarkin closed 5 years ago

ryanlarkin commented 5 years ago

Summary of Changes

Log initialization results for all subsystems
Check talons, encoders, gyro for drivebase
Disable closed loop modes for drivebase if errors occur
Check lift talon, encoder, and limit switch in initialization
Disable closed loop motion for lift if errors occur
Check intake Victor in initialization

Testing Performed

Environment: Practice bot

kevlam2706 commented 5 years ago

Looks great. We still should test the lift encoder failure case by disconnecting the encoder cable from talon #5. Couldn't do it tonight because we didn't have allen keys at Mission Control.

Only suggestion I have, is you could log the error value that you get when it's not ErrorCode.OK. com.ctre.phoenix.ErrorCode has a number of possible error values that might be useful for debugging.