Pick a reasonable value for ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD

[brettle]

RobotCode2024/src/main/java/org/carlmontrobotics/Constants.java

Line 80 in 0dd661b

public static final double ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD = 0; // placeholder

The current placeholder value will prevent the arm from being moved at all. Pick a value that corresponds to the distance the arm will travel if it accelerates at its max acceleration to its max velocity and then decelerates at its max acceleration back to 0.

[Juliaaaahhhh]

I changed it to 0.5 for now as another placeholder - that is what the value of this constant was in Robotcode 2023

Commit:
a594629

[brettle]

Strongly recommend doing the math here. Note that the arm may continue to move for up to ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD radians after the user stops moving the stick. At the moment that means it might continue to move for ~28 deg!

[sofiebudman]

senac did math and we changed to 1.8345
9efab59

[FriedLongJohns]

@sofiebudman show work

[brettle]

The current value is definitely not correct. 1.8345 radians is 105 degrees. That could allow the arm to continue moving for 105 degrees after the the user has let go of the joystick.

[brettle]

Per my original comment on the issue, you want to compute the value that corresponds to the angle the arm will move if it accelerates at MAX_FF_ACCEL_RAD_P_S to MAX_FF_VEL_RAD_P_S and then decelerates at MAX_FF_ACCEL_RAD_P_S back to 0.

Note that at the moment the variable MAX_FF_VEL_RAD_P_S is commented out, but the (currently incorrect, due to issue #27) attempt to compute it occurs here.