When the elevator is going down with a cube it can get caught on elevator.

first95 / FRC2018

The code base for our 2018 robot

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When the elevator is going down with a cube it can get caught on elevator. #63

Closed RoboticsNA closed 6 years ago

RoboticsNA commented 6 years ago

When we have a cube and the wrist is in the upmost position and the elevator is going down it can sometimes get caught on the elevator shaft and this can break the motors.

Maybe make the wrist go down a notch when moving the elevator down in certain conditions?

RoboticsNA commented 6 years ago

This issue will be fixed mechanically, at least for now it will be. I will keep this issue open until James gives the O.K. that the issue was fixed mechanically.

lindsayvallen commented 6 years ago

Not yet fixed mechanically so fixed in software for auto moves. Sets wrist to mid-up position before dropping elevator and then setting wrist to up position in ResetElevatorandWrist. Before that's called, added back up to auto moves that needed it so they don't run the wrist/maw into anything when the elevator comes down. See commit 2853022.