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Can you make a command to go to a specific distance from the hub? It'll help with getting data for #93. |
| io.setRightHopperVoltage(-1); | ||
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| return retractSlowly.until(limitSwitchTouched).andThen(stop()); |
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wilson stopped using the limit switch, so i'd remove that. and use the moto positions. and split the command into each side with their own position.
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wdym by split? If its two commands, only one can run at a time.
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u are right about that. ya but if not using the PID there's no way to have it stop when each side are at the right position unless we're not concerned with that in this scenario?
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this is just to put compression on the balls so they move into spindexer I don't think that using pid is necessary
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I agree. The issue is of the right side goes faster than left, th switch will stop it and the left may not finish. Or vice versa, the left will continue to try to drive into the hard stop waiting for the right.
| double totalVelocity = baselineVelocity / Math.cos(Math.toRadians(baseline.hoodAngle)); | ||
| double targetHorizFromHood = baselineVelocity * hoodFactor; | ||
| double ratio = MathUtil.clamp(targetHorizFromHood / totalVelocity, 0.0, 1.0); | ||
| double adjustedHoodAngle = Math.toDegrees(Math.acos(ratio)); |
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hood angle != fuel exit angle
| /* Controllers */ | ||
| public final CommandXboxController driver = | ||
| new CommandXboxController(Constants.DriverControls.controllerId); | ||
| public final CommandPS5Controller driver = |
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Needs to switch back before we run in shop
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