motors direction (make sure both the same) & sensor direction in phase
soft limits top & bottom
plotting to determine max velocity
up max vel & down max vel
-gains for each, if diff then diff gains
potential limit switches
max accel top & bottom
tune PID gains
assign height positions
determine intake deadzone
slide phase- command front mid & back correctly
limit velocity for slide when elevator raised
motors direction (make sure both the same) & sensor direction in phase soft limits top & bottom plotting to determine max velocity up max vel & down max vel -gains for each, if diff then diff gains potential limit switches max accel top & bottom tune PID gains assign height positions determine intake deadzone slide phase- command front mid & back correctly limit velocity for slide when elevator raised
intake slide in sync with line