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SouthwestRoboticsProgramming / 2023_Main_Robot

FRC Team 2129's 2023 Robot
MIT License
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[Robot] Prevent arm from slamming into the grid #127

Closed mvog2501 closed 1 year ago

mvog2501 commented 1 year ago

This PR forces the arm to move up first before moving over or over first before moving down. Instead of taking the most direct path, it takes a path that shouldn't hit the grid if we start moving it while close to the snap point.

Tested and working in the simulator.

lorenzogood commented 1 year ago

This is now tested and working IRL as well.