Set aimer voltage to small negative when near the hard stop

[linglejack06]

@jkleiber @minhnguyenbhs id like to test this in shop today before you merge it. I say this because I noticed yesterday that when moving the robot the inertia causes the Aimer to go up and down. Therefore the aimer doesn't stay at its bottom position and can't intake a note well. We retuned aimer PId to make it stay at set point a little better. I'm not sure how well the aimer will stay there at zero voltage.

[jkleiber]

This might be something we do based on mode (PID hold to 0 during intake, let sit during idle)

In any case I dismissed my review until this can be tested

[minhnguyenbhs]

Are we confirmed to have shop today from 10-1? @linglejack06

[PChild]

Are we confirmed to have shop today from 10-1? @linglejack06

Yes, I'm opening from 10-1.

[linglejack06]

This might be something we do based on mode (PID hold to 0 during intake, let sit during idle)

In any case I dismissed my review until this can be tested

Yeah, that's how it's set up now. For whatever reason about 1 in 5 times the intake would shoot note before aimer was all the way down ( hasn't been tested with new PId though) this would cause the note to go above aimer and get stuck in robot. Minh or I will test it out and let you know

[aidnem]

@linglejack06 was this the case after the encoder got fixed as well? It could've been the arm thinking it was down and allowing the note to pass through when it was actually up.

[linglejack06]

I’ll test that today and seeSent from my iPhoneOn Oct 17, 2024, at 10:21 AM, aidnem @.***> wrote: @linglejack06 was this the case after the encoder got fixed as well? It could've been the arm thinking it was down and allowing the note to pass through when it was actually up.

—Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you were mentioned.Message ID: @.***>

[linglejack06]

@jkleiber we ran out of time to test this, but should be quick to test before comp on Saturday

[aidnem]

@minhnguyenbhs could we update this to apply a small negative voltage and lower the current limit when arm is near the bottom and we are intaking? This way, it will gently drive the arm into the hardstop and keep it snapped down even during acceleration.

[minhnguyenbhs]

ok! will get to that tonight