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titan2022 / FRC-2019-JAVA

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Arm Mechanism #7

Open ayush17agarwal opened 5 years ago

ayush17agarwal commented 5 years ago

Your assignment is to program the arm mechanism. I have provided you with all the dimensions, numbers, gear ratios, and motors that you should need to complete this task.

Warning: This is not an easy assignment. There are a lot of moving parts that need to be coded and a lot of hard stops that need to work, so we don't destroy the robot or its other mechanisms.

Please remember that you will need to make sure that the wrist is always parallel to the ground. That will probably mean that you will need to include all of the wrist action within the arm development. I will have Travis explain how to do that because he knows it best.

Please make the control to the arm be one joystick on a different Xbox controller and the manual override for the wrist be on the other joystick of that controller. There should also be a button on the right side of the controller that will allow the aux. person to reset the grabber to its parallel position.

Should you have any questions, please comment them here, and also make sure you put your daily progress here as well.

dasarchan commented 5 years ago

Yesterday we set the constants in ConstantsMap and figured out exactly what you want us to do.

ttchalakov commented 5 years ago

Today we implemented methods for getting the target angle of the wrist for it to be level. We have also implemented the tolerance equalities. We also implemented a shoulder angle method to find the angle of the shoulder. It has been decided that 0 degrees for the shoulder is straight down and 0 degrees for the wrist is up against the arm to the shoulder from the pivot.