Same change as on elevator but for arm -- prevent backdrive.
Issue:
Related PRs:
Checklist
[x] Code is complete, and naming of variables, methods and classes are readable by non-coder humans.
[x] This code change has been tested and validated working as expected.
[ ] This code change has been reflected in robot documentation in the docs folder.
[x] The questions below have all been answered.
[x] The title of this PR has been updated to describe the change made, for example, [Subsystem or Command Name] Short description of change.
[x] Assignees (usually yourself) have been assigned in the "Assignees" section to the right.
[x] Relevant reviewers have been assigned under the "Reviewers" section at the right.
What is changing and why?
Adds holdArm method to Arm subsystem and associated HoldArm command which puts Arm into backdrive prevention mode with a very long timout. Could change the default command to use this, but has not been done. Will want to think about whether we want that before using -- Arm doesn't easily backdrive anyway.
How was this tested?
tested on bot.
Is there anything the reviewer of this PR needs to know to validate that this code is correct?
Arm and Elevator both now use Hold command as their default command for 2 minutes.
What do your team members need to know about this?
msonnier
commented
1 year ago
Related Issues and PRs
Same change as on elevator but for arm -- prevent backdrive.
Issue:
Related PRs:
Checklist
docsfolder.[Subsystem or Command Name] Short description of change.What is changing and why?
Adds holdArm method to Arm subsystem and associated HoldArm command which puts Arm into backdrive prevention mode with a very long timout. Could change the default command to use this, but has not been done. Will want to think about whether we want that before using -- Arm doesn't easily backdrive anyway.
How was this tested?
tested on bot.
Is there anything the reviewer of this PR needs to know to validate that this code is correct?
Arm and Elevator both now use Hold command as their default command for 2 minutes.
What do your team members need to know about this?
H