Storage Current Draw Concerns

[joecaraccio]

Max,

We did a ton of testing on the shooter yesterday. At first we weren't able to get the shooter up to top speed - before then finding that there were loose connections and a possible choke on the gage of wire.

However, what happens when we shoot is we reach an inevitable drop in shooter velocity as we run the storage system to get a ball into the shooter (bad enough to miss the shot). We need to figure out a solution to this tonight. From testing, we found that if we hold a ball just below the shooter (so that we barely have to run the storage system to get it up) it makes the shot.

So there are two potential solutions to this that we are exploring:

• Use the talons current limiting controls when we are ejecting balls into the shooter. We would have to experiment with the current draw of current. We would also need to be able to turn this off and on based on if we are in an intake state, or a shooting state. We don't want to limit in an intake state as this is going to slow the storage down. Nick and I saw that when we fed the shooter slower that seemed to help as well.
• Use a garage door sensor to hold the ball very high in the storage. Essentially have whatever ball that is on deck for being shot be held at a top garage sensor, that way the storage barely needs to run (and can still run slowly) and have very minimal current draw

Use the 'integration' branch tonight as it has some changes we have been making. For distances at 35 feet or so, we want to be using a speed of about 2900. Probably 2925 or so to give ourselves a little wiggle room.

Example of Current Limiting:

/* The following java example limits the current to 10 amps whenever the current has exceeded 15 amps for 100 Ms */
talon.configContinuousCurrentLimit(10, 0);
talon.configPeakCurrentLimit(15, 0);
talon.configPeakCurrentDuration(100, 0);
talon.enableCurrentLimit(true);

[joecaraccio]

To note, we should be able to handle the current on this. We are going to tap into the power distribution board ( https://docs.wpilib.org/en/latest/docs/software/can-devices/power-distribution-panel.html ) before we do anything and make sure there isn't a really big draw somewhere.

[joecaraccio]

Actually, @maxh65000 looks like we aren't currently setting PID values. That is our issue. I think I am going crazy thinking about this all day!

Lets set those tonight.