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SachemAftershock / 2019-robot-code

Sachem Aftershock's code for FRC 2019 Destination: Deep Space
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Port anti-tilt code from 2018 RoboRIO source code, adjust for 6 wheel vs. Mecanum. #7

Open JimTripi opened 5 years ago

JimTripi commented 5 years ago

The magnitude of motor input may need to be tuned for the new robot’s center of gravity and momentum characteristics. The Mecanum could strafe into the fall if tipping sideways, so the 6 wheel like needs a little forward or backward input added so it will pirouette.

DanWaxman commented 5 years ago

The previous code was already written for a SWD (last year's robot). For reference, here's the code:

https://github.com/SachemAftershock/2018-robot-code/blob/48f9035411f69ff1d4e5348f272d93add485951d/Slipgate/src/org/usfirst/frc/team263/robot/SWDrive.java#L264-L279

JimTripi commented 5 years ago

This anti tilt will need to be toggled off for the end climb. The current climbing mechanism intentionally tilts the robot platform dramatically. Not sure what we should use to time this. Perhaps the elapse time since start of match, to the start of climb period. As with many special functions, we may want a manual override toggle as well.