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FRCTeam3255 / 2024_Robot_Code

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Implement ICAT #232

Closed dunep closed 6 months ago

ACat701 commented 6 months ago

We wanted both positional and velocity control on the climber. We also wanted them both to be Motion Magic. I'm not sure how we'll make sure that the PID works in both cases. Maybe it'll just work like magic? Maybe its not actually a problem and I'm just really tired?

ACat701 commented 6 months ago

@TaylerUva ^^

ACat701 commented 6 months ago

Also im trying to think about how we should account for other commands interrupting the PrepAmp command. As i have it written right now, everything kinda explodes if it fails to transfer the amp note into the amper and that would run until its interrupted and them maybe things will explode and idk I'm very tired

TaylerUva commented 6 months ago

We wanted both positional and velocity control on the climber. We also wanted them both to be Motion Magic. I'm not sure how we'll make sure that the PID works in both cases. Maybe it'll just work like magic? Maybe its not actually a problem and I'm just really tired?

You would have 2 PIDs but we don't need velocity in climber just voltage

ACat701 commented 6 months ago

TESTING NOTES

TaylerUva commented 6 months ago

DISABLE CURRENT LIMITING ON downwards only

TaylerUva commented 6 months ago

Climber up waits for amp