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entech281 / Season_2018

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added lifter control. added a settable encoder #43

Closed dcowden closed 6 years ago

dcowden commented 6 years ago

This adds a settable encoder, and code to slow the lifter down when we read values near the top or bottom of the lifter. Nice and simple-- should work fine. This was a simpler change than integrating my new axis class-- and we dont have a lot of time.

dcowden commented 6 years ago

I should note-- this code assumes that we're starting at the bottom. If we'll start at a given height, we should probably set the encoder to the value we think we are at when we start.

dcowden commented 6 years ago

@mandrews281 this iterating to having a few things-- i dont think they will break stuff, but if it does, it will be fast to fix.