ARM: Constant calculation of offset and arm position - Githubissues

frc-88 / 2020-Robot

TJ² 2020 Infinite Recharge Robot Code. Oh Yeah!

2 stars 1 forks source link

ARM: Constant calculation of offset and arm position #36

Open rbtgagnon opened 4 years ago

rbtgagnon commented 4 years ago

At the start of every cycle

the full sequence of events...

Get the encode value and pass this in to encodeTicksToArmDegrees
Do the math mod function ((encoderValue + 15 ) mod 120) - 15
take the results of that calculation
pass that into arm degrees to motor ticks
then set the talon sensor position to the value that we've calculated it to be.

Note:

For functions like "armTicksToArmDegrees" value should be adding the offset then multiplying the the result by 120/1024

Constants

120 degrees (360 degrees in a full circle, but we have a 3:1 ration from the encoder to the actual arm shaft.
1024 is ticksPerArmPositionEncoder rotation
15 gives us some level of shift and allowances on either side