Add Uptake Sensor - Githubissues

team401 / 2024-Robot-Code

Competition code for our 2024 robot

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Add Uptake Sensor #155

Closed linglejack06 closed 3 months ago

linglejack06 commented 3 months ago

Summary: add sensor to uptake to prevent intake from running with note already in. This will prevent tech fouls.

Changes:

add time of flight sensor library from playingWithFusion
add Time of Flight sensor to IntakeIOSparkMax class
add boolean supplier for intake to check if note in shooter deck
add check in idle mode (don't set intake action if note is sensed in uptake)
add check in reversing state for note in shooter deck (if so run belt backwards)

Resolves #149

redPlover commented 3 months ago

@linglejack06 Could you please put the ToF sensor in the intake io instead of making a new sensor io?

This is my personal opinion though, what do you think @jkleiber?

jkleiber commented 3 months ago

I agree, let's put it in the Intake IO if possible

linglejack06 commented 3 months ago

Yeah I'll change that

jkleiber commented 3 months ago

@wrob3rts just fyi: if you figure out how to interface with the sensor, this is the relevant PR

jkleiber commented 3 months ago

@linglejack06 on Saturday we saw that the Time of Flight sensor was causing weird problems on the kit bot. Apparently other teams have seen it take 30+% more CPU usage when it is in use as well.

I think we are going to add a banner sensor or a beam break to the uptake. @PChild probably has more details, but let's create a separate branch for a PR that uses a banner sensor instead and keep this PR in our pocket in case the ToF sensor comes back in scope

linglejack06 commented 3 months ago

okay ill add that PR shortly.

PChild commented 3 months ago

We got one of the beam breaks installed today in the shooter deck for indexing, its working well and was drop in replace from the banner sensor. I think we can go ahead and close this PR and just go with #163

PChild commented 3 months ago

Closing this one in favor of #163 feel free to re-open if we need this for some reason.