Grasper Subsystem

[joecaraccio]

Mechanically, we are not sure yet what the grapser is going to be, however it is likely going to be a roller based system.

Likely Attributes:

• 1 to 2 Ball Capacity

• Talon based Motor Control

Features we need in the subsytem (some of these may be removed or changed):

• Public Function to Enable Wheels Spinning in Intake Direction
• Public Function to Enable Wheels Spinning in Eject Direction (opposite)
• Public Function to Stop all Wheel Movement
• Public Function to getStatus of the Intake. Maybe make this return an enum? { Intaking, Ejecting, Idle}?
• Logging of Motor Voltage and Motor Current to Subsystem ( https://github.com/Team138Entropy/Entropy2022/issues/20)

We might also want to be prepared to have to sample the Current to detect when a ball moves in. That or potentially a lidar sense.

[joecaraccio]

Updated Grasper Specifications/Description:

• Grasper will pick up 1 ball and use the spike in current to detect when the ball has been picked up
• When the Motors start spinning in the 'intake' direction, the current on the motor will rise to an initial level, this is the base current level, then as a ball is intaked, the current should briefly spike, this spike will be how we determine we have a ball.
• Current will need to be sampled from the Power Distribution Panel. A channel of the PDP will be associated to the motor
• Talon will be controlled in PWM (thus no feedback, thus why we need the PDP).
• Periodically, when a ball is within the graspber, the motors should be briefly run to ensure ball stays in position.

@TrueDemoknight @averwhy