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Team2168 / 2014_Main_Robot

Code for the 2014 FRC season.
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Catapult/intake safety #47

Closed jcorcoran closed 10 years ago

jcorcoran commented 10 years ago

It looks like it will be possible to fire the into the intake (if the tusks are extended fully and the intake is raised). This would be bad.

Make sure all firing commands verify that the intake is lowered.

We may need to add a switch to the intake to detect its lowered position. This will allow us to actuate the intake down (if it is an interfering position) and continue with the fire sequence at the earliest possible moment, when the intake is out of the path of travel of the catapult.

Benmw99 commented 10 years ago

Would it be possible to just use a boolean saying if the intake was up or down and the catapult could only fire if the intake was down? And if it is up, it could automatically set it down then fire?

jcorcoran commented 10 years ago

Yea, the determination of the catapult being out of the way should use the sensors mounted on the assembly though. This is kind of dependant on #54 being resolved.

Benmw99 commented 10 years ago

Is this closed now that the sensors are on? And the appropriate if statement will be used in commands?