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team178 / TheClaaaw

2015 Competition Robot - Recycle Rush
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Grabbing both game pieces in Autonomous #4

Open Elizabeth-Cho opened 9 years ago

Elizabeth-Cho commented 9 years ago

We'd like to grab both the garbage can and the tote during Autonomous, so we need a new set of commands for that.

And then the code for picking up a tote and moving it.

Original tote code is -90 degrees, but new code requires it to be 90 degrees. We need to orient the robot differently so it's from the can side and not the tote side.

gluxon commented 9 years ago

This is a very nicely written issue. :)

robstolarz commented 9 years ago

In order to re-run the tote code, we need to remember to make the code re-runnable. So, if we use a timer, reset it. Any flags, unset them. Etc. Just a note.

gisellegk commented 9 years ago

@SilverSapo did some great work on this issue in 80f8db0. I think the new switch/case structure is great :smile:

nandantumu commented 9 years ago

If there was a like button on GitHub, I would've used it. Great job Elizabeth.

On Thursday, March 19, 2015, Giselle notifications@github.com wrote:

@SilverSapo https://github.com/SilverSapo did some great work on this issue in 80f8db0 https://github.com/team178/TheClaaaw/commit/80f8db05a2a4ed1ab5d39da24c0060ebdf1b8d01. I think the new switch/case structure is great [image: :smile:]

— Reply to this email directly or view it on GitHub https://github.com/team178/TheClaaaw/issues/4#issuecomment-83585637.

robstolarz commented 9 years ago

The code landed for this right after Hartford, with the exception of changing line https://github.com/team178/TheClaaaw/blob/master/src/org/usfirst/frc/team178/robot/Robot.java#L132 to fit the current motor speed, as well as adding encoder logic to the whole shebang (not "have we found the place we need to get to" but "run descendIfReady(0) if we've passed the distance with the encoder")

Also friendly reminder that we are likely getting new grabber arms for the recycling bins, so we will only have to descend a third of the original distance, making the total increase in grip speed 6x, decreasing our estimated time waiting for the claw from 13.3 (3.8+8+1.5) to 2.7 ( ((3.8+8) / 6) + (1.5 / 2) because the last phase has nothing to do with the garbage can)