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errorcodexero / newarch

Repository for software for the new architecture
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Create lifter subsystem #3

Closed sjcbulldog closed 5 years ago

sjcbulldog commented 6 years ago

Create the lifter subsystem with the following directives

Normal mode: Calibrate Go to a given height (invalid if not calibrated, invalid if in low gearn) Set the lifter to low gear Set the lifter to high gear Set lifter motor to given duty cycle (if in low gear, invalidates calibration)

Climb Mode: Hold the current position (encoder ticks based) Set lifter motor to given duty cycle

sjcbulldog commented 6 years ago

Hardware: Motors, Shifter Solenoid, Brake Solenoid, Encoder, Limit Switches State: Height

sjcbulldog commented 5 years ago

Finished in the phoenix robot source base