search

FRCTEAM1474 / 2024RobotCode

Apache License 2.0
0 stars 1 forks source link

Distribute arm and chassis mass. #17

Closed berkakinci closed 8 months ago

berkakinci commented 8 months ago

The new distribution limits acceleration more. The robot tips less. Also paves the way for managing different matter distribution with arm movement.

FRCTEAM1474 commented 8 months ago

I think that the position of ARM_HEAD should be dependent on where the arm actually is, and its weight should be accurate and not just half of the robot's weight. We can add in a method to report its position in armsubsystem. This should be regularly updated in periodic() to make sure the ARM_HEAD position always matches the physical position of the bot.

FRCTEAM1474 commented 8 months ago

Merged with the intention of making it more accurate later on