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team4909 / 2019-Deep-Space

Team 4909's 2019 Robot Code
MIT License
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Implement Stilts & Climber #56

Closed roshanr10 closed 5 years ago

roshanr10 commented 5 years ago

Hardware (discuss more w/ build on motor controllers, and encoders requirements)

Commands (works in conjunction w/ existing elevator setpoints)

roshanr10 commented 5 years ago

we're waiting on #63 but theoretically this'll just follow the elevator going up when this is enabled to try to keep the robot level

roshanr10 commented 5 years ago

i think this should be built as part of the existing elevator subsystem and kick in whenever the elevator subsystem tries to go farther negative (below the initial starting point), and then have a retract upward feature

roshanr10 commented 5 years ago

one way to to do this would have the stilts PID on gyro values to be level when the stilts are activated– then once you're mostly on, you can override the PID and bring them up as well

roshanr10 commented 5 years ago

blocked by #63

shashjar commented 5 years ago

See climber branch.

Newest commit saw writing of untested code for stilts in climber subsystem. Included classes are DriveStilts and RetractStilts with buttons specified in #83.

To-Do List for this code for next meeting:

roshanr10 commented 5 years ago

For future, WIP branches are nice because it allows for easier code comments and can eventually be merged in. I’ll take a look in a few hours.

I think I’ve seen the first issue in past, I’ll see what I can do.

On Wed, Feb 13, 2019 at 21:54 Shashank Jarmale notifications@github.com wrote:

See climber branch.

Newest commit saw writing of untested code for stilts in climber subsystem. Included classes are DriveStilts and RetractStilts with buttons specified in #83 https://github.com/FRCteam4909/2019-Deep-Space/issues/83.

To-Do List for this code for next meeting:

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"The type ClimberSubsystem must implement the inherited abstract method Subsystem.initDefaultCommand()" error showing up on Climber Subsystem class when declared

Figure out which motor will be used for climber and fill this in in Climber Subsystem class for RobotMap object

Test code with robot

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roshanr10 commented 5 years ago

There are two motors within the subsystem on entirely different gearboxes...see initial comment in issue.

roshanr10 commented 5 years ago

You just need to implement initDefaultCommand() as an empty method to avoid throwing the aforementioned error

shashjar commented 5 years ago

To-Do for this Issue as of 02/17: