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ToughTechs151 / robot-template

Template for Tough Techs robots.
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Update the arm subsystem for safe operation #82

Closed jwt388 closed 11 months ago

jwt388 commented 11 months ago

The arm subsystem is based on a poor example (ArmBot) and has following issues:

  1. Uses a ProfiledPIDSubsystem which has hidden features making operation unclear.
  2. Use of setGoal as the public interface doesn't provide safe mutex protected operation.
  3. Enable/disable logic isn't correct.
  4. THere is no simple way to see when the arm has reached the goal.
jwt388 commented 11 months ago

Closed in commit fa43a88a