Tested climb adjustments made Monday. Gets us down to ~10s from ~13s
When handing off from climber to monkey bar, Raise lift directly to 19" vs just enough to clear the bar we are hanging on. The idea here is to have the lift ready to swing under the bar when we make the first fall past it to minimize the number of swings we are waiting in the sequence.
On the high bar remove the check that waited until the robot was level to hand off to the monkey bar. This was added in FL to prevent handing off to the mbar when the robot was in an extreme part of the swing. We were loading the mbar hook near the finger and was contributing to us falling off the bar on the blue side. The new monkey bar hook geometry doesnt load out near the tip and doesn't appear to require this constraint. We have some close up video of the hook during this transition as evidence we don't need this check anymore (someone else has video)
Reduced the number of loop iterations the climber needs to be pressed against the traverse bar before it pulls up. This was added to handle the bounce / long settle time seen in FL. With the higher pressure on the mbar cylinders, bounce haven't seen more than one bounce at any competition. Time delay is more similar to what we are using for the high bar sequence (0.3sec continuous depress of switches)
This sequence was also tested a number of times on the comp bot, worked all 3? times we tried it. Only mod we made was to remove one of the belts from the new hook design to reduce the amount of force required to disengage the bar (chain was skipping on sprockets).
closes #66
Tested climb adjustments made Monday. Gets us down to ~10s from ~13s
This sequence was also tested a number of times on the comp bot, worked all 3? times we tried it. Only mod we made was to remove one of the belts from the new hook design to reduce the amount of force required to disengage the bar (chain was skipping on sprockets).