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SouthwestRoboticsProgramming / 2023_Main_Robot

FRC Team 2129's 2023 Robot
MIT License
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Arm damping #125

Closed mvog2501 closed 1 year ago

mvog2501 commented 1 year ago

While swapping the arm to use full motor power was a good thing, it does bring up the need for some sort of arm damping. Currently, when it navigates up to a position, it rocks the whole robot with it. The solution could be as simple as adding a kD constant or as complex as limiting acceleration.

rmheuer commented 1 year ago

kD is available for tuning in NetworkTables so that can be tested tomorrow. We could also use a ProfiledPIDController

rmheuer commented 1 year ago

Arm movement was good at hcpa