first95 / FRC2018

The code base for our 2018 robot
MIT License
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Add closed-loop support for elevator #37

Closed jwalthour closed 6 years ago

jwalthour commented 6 years ago
jwalthour commented 6 years ago

As of 7a1fe4c15383e2d37a63ad690ccbeefc93f0dd79, controlling the velocity via position control mode works. The winch movement is a bit jittery - we still need to do some tuning.

jwalthour commented 6 years ago

An early draft of safety rules:

jwalthour commented 6 years ago

Additional safety rule:

jwalthour commented 6 years ago

Reworked control system in 568cbab8568767f7547032ecd59b331965ee3131. Now A, B, X, Y are preprogrammed setpoints, the right stick is throttle control, and when all of those are released, the position is held.

jwalthour commented 6 years ago

Homing switch : 8401566a11f42438dd1ed6346a24fdfcff026311 Soft limits: c6f59e9498e0bff8d1061dd2ea6fc631ec9cdb58 Safety procedure: above, probably oughta write them up someplace and discuss them with the students.