Open NotInControl opened 9 years ago
Also, two other changes that can be made to more bullet-proof this auto would be
addParrallel(new DriveXDistance(-0.3, 1), 2); //drive away to clear the stack
The point of this change will be to slightly backup with the robot while trying to lift the second tote and avoid colliding with the second bin.
So if the refs don't count the 3-tote auto stack as is right now, because we are still in contact with it, I think the easiest fix is this:
change this line: https://github.com/Team2168/2015_Main_Robot/blob/master/src/org/team2168/commands/auto/Auto_ThreeToteStackRollingBins.java#L105
to be something like below (which reduces the drive distance forward with the stack)
then also change this line: https://github.com/Team2168/2015_Main_Robot/blob/master/src/org/team2168/commands/auto/Auto_ThreeToteStackRollingBins.java#L120
to something like below (which increase the speed we drive back)
the goal would be to get the robot front wheels to just touch the white line, then speed backwards
We will drive backwards at full speed and get killed by auto ending. We don't currently have a way to drive short distances at full speed because the controller wants to Ramp up and Ramp down and control the acceleration. But in this case we will just speed back and get killed, so one way to do this is to set the setpoint high and then kill the command by timing out.
I think if you makes these changes the robot will backaway from the stack, I just didnt have time to implement this myself tonight. So if the refs tell you you need to let go, try doing this.