Initial Climb Subsystem #6
Conversation
|
|
||
| @Override | ||
| public void zero() { | ||
| relSetpointOffset = ExampleConstants.kZeroTicks; |
There was a problem hiding this comment.
We should be able to actually write to the encoder as we will have an encoder on the shaft that tilts the cage in (using a winch) instead of saving off a zero
| @Override | ||
| public void periodic() { | ||
| // Read Inputs | ||
| io.updateInputs(inputs); |
There was a problem hiding this comment.
Add processInputs(), see example subsystem
There was a problem hiding this comment.
will need to update/process both sets of inputs
| return Set.of(); | ||
| } | ||
|
|
||
| public enum ClimbState { |
There was a problem hiding this comment.
Likely will end up having more states, but we probably don't know enough yet to write them
| private final ClimbWheelIO wheelIo; | ||
|
|
||
| private final ClimbArmIOInputsAutoLogged inputs = new ClimbArmIOInputsAutoLogged(); | ||
|
|
There was a problem hiding this comment.
Need to add wheelIOInputsAutoLogged as well
There was a problem hiding this comment.
may want to rename so it is clear which is armInputs and which is wheelInputs
| public void setPercent(double pct) { | ||
| logger.info("Setting percent to {}", pct); | ||
|
|
||
| talonFx.set(pct); |
There was a problem hiding this comment.
Change this to a setControl with a dutycCycle request
| import org.strykeforce.telemetry.measurable.MeasurableSubsystem; | ||
| import org.strykeforce.telemetry.measurable.Measure; | ||
|
|
||
| public class ClimbSubsystem extends MeasurableSubsystem implements ClosedLoopPosSubsystem { |
There was a problem hiding this comment.
Assuming most of these are because you aren't done yet but you'll need methods like the following:
- setSpeed() for the wheels
- startClimb() to initiate state machine
- isClimbFinished() to check state
…l color decisions
No description provided.