KyleD973
commented
5 years ago Driver:
- Default vanilla Cheesydrive
- Assisted Cheesy - Cheesy with steering assist from vision (pre or post summation)
- Full Auto - Vision controlled drive for distance and angle (fancy cosine based throttle control) Later versions throttle based off of angle and distance error
- Buttons transition drive modes while button is held
- Scoring action dictated by top level mode (hatch/cargo) - Hatch Run Wheels out Cargo Spit ball out with (100%) power
- If in “Full Auto” mode, “Scoring action” waits for convergence on target
Operator:
- Preset button heights change with which scoring mode is selected
- Dpad control over scoring modes
- ABXY are low, mid, cargobay, high presets
- triggers/bumpers control scoring mechs
- Intaking trigger brings elevator and cargo/hatch mech to the correct state for intaking as well as runs rollers
- Manual elevator on right stick
Make sure teleop and sandtorm controls are paralleled to button mapping spreadsheet