It was discussed that there would be two positions for the shooter arm to handle different types of shots
Components
1 Falcon FX motor
** Each Falcon has its own encoder
absoluteArmAngleEncoder
** encoder mounted below the bottom of the shooter elbow to measure the angle of the shooter.
TODO
[ ] haiku
Methods
[x] encoderTicksToArmDegrees
[x] armDegreesToEncoderTicks
[x] encoderVelocityToArmVelocity
[x] armVelocityToEncoderVelocity
[x] getArmPosition (angle)
[x] setArmPosition (this uses motion magic)
[x] moveArmPosition (this uses basic % output)
COMMANDS
[x] moveToShootingPositionOne - for shot profile 1
[x] moveToShootingPositionTwo - for shot profile 2
[x] moveToHomePosition - fully stowed, pregame position
[x] moveToPosition - using motion magic
[x] arcadeMoveToPostion - using the joystick, use basic control to move to a position - discussed for testing and calibration
[ ] emergencyResetArm - see safety noticed below
SAFETY
If we find that we are over our buffer limit (+/- 15 degrees) then we
will stop the ARM, have the operator initiate an overide and move toward the limit switch to reset the arm (position)
nix342
commented
4 years ago
Shooter Arm:
Components
TODO
Methods
COMMANDS
SAFETY
If we find that we are over our buffer limit (+/- 15 degrees) then we will stop the ARM, have the operator initiate an overide and move toward the limit switch to reset the arm (position)