Decrease SDS encoder reset iterations to 125 (2.5s). Reset encoders by default at start

Team2337 / 2022-Presented-By-Noahs-Arcade

Other

1 stars 0 forks source link

Decrease SDS encoder reset iterations to 125 (2.5s). Reset encoders by default at start #109

Closed ZachOrr closed 2 years ago

ZachOrr commented 2 years ago

Decreasing the ENCODER_RESET_ITERATIONS from ~10s to ~2.5s helped us reset our encoders quicker when we'd get in to a bad state where our absolute encoders wouldn't initialize. That code we tested with tonight and it looked pretty good.

The other LOC here is something that we talked about - always reset our encoders at start as opposed to having to wait 2.5s. We'll need to keep an eye on that LOC if we merge this change, since we were not testing with that code tonight.

ZachOrr commented 2 years ago

This is an easy fix - but there's a more comprehensive fix for this. I think we close this and work on the more comprehensive fix as opposed to patching over this issue with this code.