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FRCTeam3255 / 2022_Offbot_Code

Robot for 2022 Rapid React Off Season
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change the turret zero position #139

Open Alenguye582 opened 3 months ago

Alenguye582 commented 3 months ago

make the "max" position the "min" position and vice versa

ACat701 commented 3 months ago

Can you clarify what you mean by this? Are you saying that we should make the turret rotation clockwise? It's currently counterclockwise to match the robot coordinate system.

Alenguye582 commented 3 months ago

Can you clarify what you mean by this? Are you saying that we should make the turret rotation clockwise? It's currently counterclockwise to match the robot coordinate system.

Oh okay. Yeah, I think we wanted to make the rotation clockwise because the starting position of the snake seemed more intuitive if it started at its "max" position currently. I honestly forgot why it seemed more intuitive. (help me @TaylerUva ). But I think we can go with whatever makes sense for future users.

TaylerUva commented 3 months ago

Can you clarify what you mean by this? Are you saying that we should make the turret rotation clockwise? It's currently counterclockwise to match the robot coordinate system.

Oh okay. Yeah, I think we wanted to make the rotation clockwise because the starting position of the snake seemed more intuitive if it started at its "max" position currently. I honestly forgot why it seemed more intuitive. (help me @TaylerUva ). But I think we can go with whatever makes sense for future users.

I think the rotation direction is was fine. It was the limits that should be reversed. The reason being is the harness on the opposite side than it was in the past. So using the old starting config, to face forward (shoot towards intake) it has to rotate 270 degrees instead of only 90. If we rotate the other way for starting config it solves the problem but the code does not support that. Hope that makes more sense, it will be easier to clarify in person.