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FRC5263 / 2018Robot

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Ultrasonic DriveUntil malfunctioning? #31

Open elodotwe opened 6 years ago

elodotwe commented 6 years ago

Today we tried to use DriveUntil...which happily plowed through the switch, never stopping.

We didn't expend any effort to root cause it. We should go back and try to figure out, does DriveUntil actually work? What is it sensitive to?

Maybe we should take a hybrid approach--build a command which drives up to a maximum distance, stopping early if the ultrasonic says it should. We'd specify how far it should drive before it finishes, and the minimum distance it should see on the ultrasonic before it cuts out early. Thoughts?

isaiahkahler commented 6 years ago

I believe we had it set to stop at (1), a human error. It takes inches as a parameter but I'm guessing the author of the DriveToShape command thought it took feet. The offset position in the DriveTrain subsystem needs to be measured and set, I believe right now it's at 3 inches, and it needs to include the length of the bumpers. We should then double check the validity of the command once that's sorted.