Implement controls for elevator subsystem - Githubissues

icrobotics-team5584 / FRC-2022-Sumsy

Code for 5584's off-season robot project, a swerve bot for the Deep Space game

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Implement controls for elevator subsystem #2

Open Liam-Stow opened 2 years ago

Liam-Stow commented 2 years ago

Make an elevator that works as the driver intends. Use simulation and a Pirate Brickbeard climber arm to test while no real hardware is available.

see for inspiration: https://github.com/icrobotics-team5584/frc/blob/master/software/cpp/2022.BobTheBuilder/src/main/include/subsystems/SubClimber.h https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp

[x] Position control on a motor with PID
[ ] Commands to make it go where the driver wants on button presses
[ ] Limit switches on top and bottom

Liam-Stow commented 1 year ago

Limit switch implimentation was looking close, @AaronKennedy21, I've added some comments here https://github.com/icrobotics-team5584/FRC-2022-Sumsy/commit/1d519adfc94c2a3db1ac8100c8b55c268e549dbd?diff=unified