A new lift method was made to check the whether the limit is pressed.

* A new method is added to Ilift.h to check whether the limit switch is
  pressed or not.
  * This will be used as the new condition to check whether the lift has
    reached low enough.
* The state machine was updated to reflect the new condition.
    * Currently, it checks whether the lift has stopped spinning.
      However, this is no longer valid as the lift will not stop due to
      the physical obstruction being rubber bands and not metal; rubber
      bands do not fully stop the lift.

Author: sepehrnik7gmailcom

2024/prototype/intake_mechanisms/docs/lift-state-machine.dot

@@ -30,8 +30,8 @@ digraph G {
     MobileGoal -> MobileGoal [label="L1 released\n AND L2 released"];
     MobileGoal -> MobileGoalUp [label="L1 pressed", fontcolor="red", color="red"];
 
-    MobileGoalDown -> Default [label="Default height reached\n AND L2 released", fontcolor="lime", color="lime"];
-    MobileGoalDown -> MobileGoalDown [label="Default height not reached\n OR L2 pressed", fontcolor="blue", color="blue"];
+    MobileGoalDown -> Default [label="Limit switch pressed\n AND L2 released", fontcolor="lime", color="lime"];
+    MobileGoalDown -> MobileGoalDown [label="Limit switch not pressed\n OR L2 pressed", fontcolor="blue", color="blue"];
 
     MobileGoalUp -> AllianceStake [label="alliance stake height reached\n AND L1 released", fontcolor="orange", color="orange"];
     MobileGoalUp -> MobileGoalUp [label="alliance stake height not reached\n OR L1 pressed", fontcolor="red", color="red"];

2024/prototype/intake_mechanisms/docs/lift-state-machine.png

@@ -81,6 +81,23 @@ class Ilift {
      */
     virtual bool isLiftSpinning() const = 0;
 
+    /**
+     * Previously, the lift stops moving when it hits a physical barrier. Rubber
+     * bands were added to overcome the slippage (the lift moved downwards
+     * because the lift motor could not hold its position). Thus, rubber bands
+     * were added to fight gravity.
+     *
+     * However, this strains the lift motor when moving down because the
+     * physical barrier stopping it rubber bands. The lift doesn't fully stop
+     * (sprongy-sprongy). Our state machines worked by checking whether the lift
+     * has stopped spinning due to obstruction.
+     *
+     * Since, this is no longer valid due to the rubber bands preventing the
+     * complete stop, we will use a limit switch to determine when the lift has
+     * reached low enough.
+     */
+    virtual bool hasLiftReachedBottom() const = 0;
+
     /**
      * Returns the default height value constants. However, each robot will
      * have different height values for their lift. The derived classes can