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frc868 / 2017-robot

The code for FRC 868's 2017 robot, Ratchet
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Turret Hard Limits Not Working #102

Closed karagenit closed 7 years ago

karagenit commented 7 years ago

Also a requirement for Turret Calibration. A note on that: supposedly CANTalons have a builtin method to reset encoder counts on reaching a hard limit, so this could act as a sort of continuous calibration.

paul-blankenbaker commented 7 years ago

Think you will want to choose one of these two methods:

public void enableZeroSensorPositionOnForwardLimit(boolean enable)

Enables Talon SRX to automatically zero the Sensor Position whenever an edge is detected on the Forward Limit Switch signal.

Parameters:

enable - boolean input, pass true to enable feature or false to disable.

public void enableZeroSensorPositionOnReverseLimit(boolean enable)

Enables Talon SRX to automatically zero the Sensor Position whenever an edge is detected on the Reverse Limit Switch signal.

Parameters:

enable - boolean input, pass true to enable feature or false to disable.

karagenit commented 7 years ago

So this issue was determined to be mechanical, I believe the new physical limit switches are working fine.