Presently our the climbing code simply sets Robot.driveTrain.rawThrottleTurnDrive(0, 0); when the limit switch is detected (or when the drive interrupts the climb).
This will likely not keep us in contact with the limit switch, and to score a point we need to (a) keep the limit switch depressed for at least 1 second, (b) ensure that's it's still depressed at the end of the match.
We should implement a PID loop to hold the drive train in place once our limit switch (which we don't have yet) is depressed, or in the alternative, a button on the farm controller to do this.
Rule excerpt about the pressure switch used to score the climb:
A. it’s minimally displaced by ½ in. (~1 cm),
B. it’s pressed for a duration of at least one (1) sec, and
C. it’s pressed when the Teleop Period ends at T = 0
cbf66
commented
7 years ago
Presently our the climbing code simply sets Robot.driveTrain.rawThrottleTurnDrive(0, 0); when the limit switch is detected (or when the drive interrupts the climb).
This will likely not keep us in contact with the limit switch, and to score a point we need to (a) keep the limit switch depressed for at least 1 second, (b) ensure that's it's still depressed at the end of the match.
We should implement a PID loop to hold the drive train in place once our limit switch (which we don't have yet) is depressed, or in the alternative, a button on the farm controller to do this.
Rule excerpt about the pressure switch used to score the climb:
A. it’s minimally displaced by ½ in. (~1 cm), B. it’s pressed for a duration of at least one (1) sec, and C. it’s pressed when the Teleop Period ends at T = 0