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FRCteam3952 / FRC2023

2022 - 2023 Season Robot Code
Other
11 stars 17 forks source link

Arm "Master Plan" #36

Open ebay-kid opened 1 year ago

ebay-kid commented 1 year ago

From Sean's instructions written on the whiteboard (also posted in discord):

Step 1: Joystick will determine if the cone is on its side or straight up ("Pickup Position").

Step 2: Based on the chosen "Pickup Position": 2a) If "cone on side": set flipped in InverseKinematicsUtil to true, so that the arm will make an upside-down U shape (no code needed for the actual movement), and the claw will approach the cone from the top. 2b) If "cone upright" (THIS OPTION ALSO FOR CUBE): set flipped in InverseKinematicsUtil to false, so that the arm will approach the game piece (cone OR cube) from the side.

Step 3: Use the Limelight to precisely position the arm for piece grabbing.

Cybertron51 commented 1 year ago

Derek peng working on it

siIverfish commented 1 year ago

also helping

ebay-kid commented 1 year ago

Basic impl there, but the exact values need to be changed