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This repository was archived by the owner on Sep 14, 2019. It is now read-only.
Add clamp to move speed when during auto and intake is up - #104
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dfang314 wants to merge 48 commits into
Open
Add clamp to move speed when during auto and intake is up#104dfang314 wants to merge 48 commits into
dfang314 wants to merge 48 commits into
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and remove repetition
made Lift extend PIDSubsystem and implemented the necessary methods for that (need to do spd --> voltage method though) made new command (UpdateLiftPosition) for continuous teleop PID --> default Lift command need to make commands for auto
implemented LiftToPosition, MoveLift, MoveLiftWithPID added buttons for the new commands (w/ some finagling for LiftToPosition params) see https://trello.com/c/7OOvkOJG/167-implement-pid-on-lift-encoder for details in checklist
these buttons should be used mostly for testing purposes right now but can be changed later for competition functionality if necessary
fixed enable/disable/stop (also added enable to the end() of MoveLift so it's ready and live when not using that non-PID command anymore changed getString in OI to be SmartDashboard. instead of Robot. but left my getString methods in there bc not doing any harm left end() in interrupted bc not really doing any harm got rid of spd --> voltage method and replaced it with a constant from Robot.getConst
https://trello.com/c/7OOvkOJG/167-implement-pid-on-lift-encoder made absolute setpoints used getHeight for everything deleted AutoLift bc obsolete deleted another missed unecessary enable
Lift auto implementation (EjectTo...'s)
set default lift max height reset lift enc in autoInit
implemented getLiftTimeConstant and methods in it for Lift still need to implement default constant values (using more math, see PIDMove constructor) commented out stuff in testPeriodic bc don't need them
for UpdateLiftPosition and LiftToPosition
https://github.com/DriverStationComputer/RobotCode2018.git into lift Conflicts: Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java
lift: reverted to old UpdateLiftPos, etc; implemented command group AutoLift for auto functions of going to the ground in 2 stages intake: IntakeCube and OuttakeCube ran motors in reverse direction than what they should have
The problem was that StopIntake was called and the intake was stopped, but the IntakeCube command was still running so StopIntake only jerked it to a stop and then restarted.
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Includes driver station repo changes.