I fixed the arm subsystem so that the arm subsystem uses the throughbore encoder as an absolute encoder.
Sam use this branch for testing the arm.
Take a look at the constants and see what needs to be changed before this can actually be used.
Try to test by manually driving the arm first before you try to do positions.
Also in ArmTestCommand, I put dummy values for the positions to test, these will likely need to be changed so that they match the actual position of the arm.
If you follow all these instructions, you should be able to avoid breaking the robot.
Merge it if it works, and don't forget to add any changes to this branch before you merge.
I fixed the arm subsystem so that the arm subsystem uses the throughbore encoder as an absolute encoder.
Sam use this branch for testing the arm.
Take a look at the constants and see what needs to be changed before this can actually be used.
Try to test by manually driving the arm first before you try to do positions.
Also in ArmTestCommand, I put dummy values for the positions to test, these will likely need to be changed so that they match the actual position of the arm.
If you follow all these instructions, you should be able to avoid breaking the robot.
Merge it if it works, and don't forget to add any changes to this branch before you merge.