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Team973 / 2019-inseason

Deep Space code of FRC Team 973: The Greybots
https://team973.github.io/2019-inseason/html/
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Endgame state machine #15

Closed KyleD973 closed 5 years ago

KyleD973 commented 5 years ago

Details will be figured out soon

KyleD973 commented 5 years ago

_Copied from control scheme ppt_ Entering end game mode: BOTH Limelights blinking Raise elevator to Endgame height (~25”) Deploy fangs/lock intake (same actuation) Set Cargo intake down Stinger drive = throttle Remap driver buttons

Throughout end game mode: Drive Mode Cheesydrive Stinger drive = throttle If stinger is lower than 1”, Drivetrain Scaled 50% K = .55, ratio of elevator to stinger voltage Climb Up Stinger = 1.0 Elevator = kstinger Climb Down (if intake still down) Stinger = -.3 Elevator = kstinger Climb Down (if intake raised) Stinger = -1.0 Elevator still targeting 6” Raise Intake Step 1 (concurrently) Set elevator to 6” Unlock intake (also undeploys fangs) (return to default state) Step 2 Wait 1 second, then Stow Cargo Intake (return to default state)