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first95 / FRC2018

The code base for our 2018 robot
MIT License
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Add anti-tip protection to the DriveBase class #33

Open jwalthour opened 6 years ago

jwalthour commented 6 years ago

It's possible to tip the robot over by changing direction too fast - for example, by hitting full reverse while going full forward. The DriveBase class knows both speed (from the DrivePods, which get it from the Talons, which get it from the encoders) and commanded speed, so it can detect changes and adjust the commanded speed.

This behavior should be checked with a unit test.

It might be useful to also account for the height of the tower.

lindsayvallen commented 6 years ago

@RoboticsNA are you working on this issue? If so, please assign it to yourself and commit any work to a branch and push it to the remote repo.