Arm go-to-position control

FRC3494 / 3494_2019_repo

FRC team 3494's 2019 robot source code.

GNU General Public License v3.0

2 stars 1 forks source link

Arm go-to-position control #20

Closed c-x-berger closed 5 years ago

c-x-berger commented 5 years ago

This PR adds the ability for the drivers to instantly have the arm move to a pre-determined position by using a single OI button/input.

To do:

[x] Initial methods for reading encoders
[x] Initial "go to position x" command
[x] Hardware determined
[ ] Tune the ever-loving daylights out of the system
[x] Add OI bindings
- [x] Button board available
- [x] Bind to the new buttons to positions

c-x-berger commented 5 years ago

Leaving draft now - I can't tune the arm at this instant and OI bindings will need to wait for the time being (button board when?)

The code is in place, we just need to create some JoystickButtons and bind them to GotoPosition for OI.

c-x-berger commented 5 years ago

Hey GitHub, add the ability to go back into draft mode would ya?

This PR should not be merged until the potentiometer is fully implemented.

c-x-berger commented 5 years ago

Another update: potentiometer is ready to test and tune. The button board has been implemented (7a52e53b5a619a8821b29caa05ee74da3be408e1), so we have plenty of buttons to bind positions to.

c-x-berger commented 5 years ago

Tuning is far from perfect, but it qualifies as good enough for initial merge.

~~proceeds to run all of comp season like this~~