Need Angle Changer Motion Constraints

[JacobyIA]

Someone needs to get info from the bob the builders of our robot regarding what they want for max velocity and acceleration on the angler. I will probably ask them myself 👍

[minglethepringle]

I recommend don't even bother asking them, they most likely won't know. Start really small where velocity = acceleration, maybe like 0.52 rad / s (30 degrees a second), and tune your way up, slowly!

[JacobyIA]

Thank you mingle!

[ZWORX52]

Also -- the string limiter is very very weak. Perhaps implement something to be careful nearing the top height of the angle changer; it's broken too many times to rely on it. In other words, mechanical needs our help because they can't put a piece of metal somewhere securely.

[minglethepringle]

Limit switch?

[JacobyIA]

I believe we were considering actual metal wires in place of string, but a code limiter may also be useful.

[minglethepringle]

No, a limit switch is a physical trigger that when something contacts it and pushes it down, you can then read the value in code (while you're running your command) and if it hits, abort everything and brake

[JacobyIA]

Yes, I was aware. My wording used above was a little ambiguous

[minglethepringle]

Ohh gotchu

[JacobyIA]

Closing this issue as with the overall trapezoid project (see that closed issue for reasons)