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Use getArmPos() and setPoint.velocity and instead of goalState #18

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brettle opened this issue Mar 5, 2024 · 1 comment
Open

Use getArmPos() and setPoint.velocity and instead of goalState #18

brettle opened this issue Mar 5, 2024 · 1 comment
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brettle commented Mar 5, 2024 •
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RobotCode2024/src/main/java/org/carlmontrobotics/subsystems/Arm.java

Line 163 in 864bd30

double armFeedVolts = armFeed.calculate(goalState.position, goalState.velocity);

The kG portion of the feedforward should be based on the arm's current position (ie getArmPos()) and the kV portion should be based on the profiled velocity (ie setPoint.velocity). Neither should be based on goalState.
@brettle brettle changed the title Use setPoint instead of goalState Use getArmPos() and setPoint.velocity and instead of goalState Mar 5, 2024
stwiggy added a commit that referenced this issue Mar 5, 2024
@stwiggy
#18
0dd661b
@BrandonS09 BrandonS09 reopened this Mar 6, 2024
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Fixed in 0dd661b

FriedLongJohns added a commit that referenced this issue Mar 10, 2024
@FriedLongJohns
Arm
a851b49 
commit ca1fd41
Author: Brandon <[email protected]>
Date:   Sat Mar 9 22:24:08 2024 -0800

    unflipped the numbers for #27

commit f94e42d
Author: Brandon <[email protected]>
Date:   Sat Mar 9 22:19:36 2024 -0800

    correct numbers for #27?

commit 813432d
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 9 17:38:36 2024 -0800

    fixed null exception

commit 892ec7c
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 9 15:17:09 2024 -0800

    fixed compilation error

commit f1a867a
Author: FriedLongJohns <[email protected]>
Date:   Fri Mar 8 22:36:44 2024 -0800

    Update comments (also clarify stuff for #24 )

commit 2fd9430
Author: FriedLongJohns <[email protected]>
Date:   Fri Mar 8 20:12:12 2024 -0800

    Reordering of logic for #24

    Only do work if we need to move.
    Also remove redundant deadzone checking

commit 1348108
Merge: 1d1355a 9efab59
Author: FriedLongJohns <[email protected]>
Date:   Fri Mar 8 19:42:54 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 1d1355a
Author: FriedLongJohns <[email protected]>
Date:   Fri Mar 8 19:42:44 2024 -0800

    fix #27 by dynamic ff calculation

commit 9efab59
Author: Sofie Budman <[email protected]>
Date:   Fri Mar 8 19:23:12 2024 -0800

    ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD

commit a534422
Author: Juliaaaahhhh <[email protected]>
Date:   Fri Mar 8 17:08:15 2024 -0800

    added comment for fix for issue #22

commit 0266251
Author: Brandon <[email protected]>
Date:   Thu Mar 7 16:47:39 2024 -0800

    work for #27

commit dfe00e4
Author: Brandon <[email protected]>
Date:   Thu Mar 7 16:33:07 2024 -0800

    Max FF vel and accel #27

commit 3622b0d
Author: Brandon <[email protected]>
Date:   Wed Mar 6 21:22:48 2024 -0800

    fixed comment

commit dbf70ba
Author: Brandon <[email protected]>
Date:   Wed Mar 6 14:57:35 2024 -0800

    comments

commit 43d7231
Author: Brandon <[email protected]>
Date:   Wed Mar 6 14:52:40 2024 -0800

    Moved where lastTime was set #24

commit 863565c
Author: Brandon <[email protected]>
Date:   Wed Mar 6 19:52:29 2024 +0000

    if speeds is 0 in armTeleop, returns, fix to #24?

commit d14d5ab
Author: Brandon <[email protected]>
Date:   Tue Mar 5 22:09:04 2024 -0800

    inverted motors

commit 6b6abd8
Author: FriedLongJohns <[email protected]>
Date:   Tue Mar 5 17:23:05 2024 -0800

    drive arm to arm goal

    fixes #20

commit 0bfc3eb
Author: FriedLongJohns <[email protected]>
Date:   Tue Mar 5 17:15:56 2024 -0800

    Fix for #22

commit ae3681f
Merge: 5abd6d5 d28e634
Author: Juliaaaahhhh <[email protected]>
Date:   Tue Mar 5 17:12:54 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 5abd6d5
Merge: f4e16c1 91e7922
Author: Juliaaaahhhh <[email protected]>
Date:   Tue Mar 5 17:12:44 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit d28e634
Merge: 81c71d3 91e7922
Author: DriverStationComputer <[email protected]>
Date:   Tue Mar 5 17:12:39 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 81c71d3
Author: DriverStationComputer <[email protected]>
Date:   Tue Mar 5 17:12:36 2024 -0800

    fixed sysID measures

commit 91e7922
Author: FriedLongJohns <[email protected]>
Date:   Tue Mar 5 17:09:47 2024 -0800

    add deadzone for arm defaultcommand

    to fix issue #24

commit f4e16c1
Author: Juliaaaahhhh <[email protected]>
Date:   Tue Mar 5 17:09:45 2024 -0800

    fixed merge conflicts?

commit 571b732
Author: FriedLongJohns <[email protected]>
Date:   Tue Mar 5 17:02:57 2024 -0800

    Revert "fix for #24"

    This reverts commit ec3ea78.

commit 519029c
Author: Sofie Budman <[email protected]>
Date:   Tue Mar 5 16:56:53 2024 -0800

    fixed feedforward stuff

commit 81ae651
Merge: a594629 ec3ea78
Author: Juliaaaahhhh <[email protected]>
Date:   Tue Mar 5 16:55:37 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit a594629
Author: Juliaaaahhhh <[email protected]>
Date:   Tue Mar 5 16:45:19 2024 -0800

    changed ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD placeholder based on robotcode2023

commit ec3ea78
Author: Brandon <[email protected]>
Date:   Tue Mar 5 16:39:56 2024 -0800

    fix for #24

commit 53166b4
Merge: d16d9af 01493e1
Author: DriverStationComputer <[email protected]>
Date:   Tue Mar 5 16:39:15 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 01493e1
Merge: 43ce540 8805765
Author: FriedLongJohns <[email protected]>
Date:   Tue Mar 5 16:39:17 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 43ce540
Author: FriedLongJohns <[email protected]>
Date:   Tue Mar 5 16:39:12 2024 -0800

    tell VScode not to err on encoder zero offset

commit 8805765
Author: Sofie Budman <[email protected]>
Date:   Tue Mar 5 16:39:07 2024 -0800

    fixed setzerofoses

commit d16d9af
Merge: e33037d 7a22712
Author: DriverStationComputer <[email protected]>
Date:   Tue Mar 5 16:39:04 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit e33037d
Author: DriverStationComputer <[email protected]>
Date:   Tue Mar 5 16:39:00 2024 -0800

    fixed POSTOLRAD

commit 7a22712
Author: Sofie Budman <[email protected]>
Date:   Tue Mar 5 16:36:27 2024 -0800

    fixed izone

commit d2a8859
Author: Sofie Budman <[email protected]>
Date:   Tue Mar 5 16:35:25 2024 -0800

    math for drivearm

commit 35374d4
Author: FriedLongJohns <[email protected]>
Date:   Tue Mar 5 16:28:37 2024 -0800

    use current zero offset

commit eb1cfc9
Author: Juliaaaahhhh <[email protected]>
Date:   Tue Mar 5 16:26:50 2024 -0800

    issue #25 - setting pos. and vel. of goal state

commit b373a0b
Author: DriverStationComputer <[email protected]>
Date:   Tue Mar 5 16:22:05 2024 -0800

    sysID Fixed

commit 721d37f
Author: Brandon <[email protected]>
Date:   Tue Mar 5 16:18:44 2024 -0800

    fixed semicolon stuff

commit 2f33075
Author: FriedLongJohns <[email protected]>
Date:   Tue Mar 5 16:17:33 2024 -0800

    rename and use sensible izone number

commit 54b28c8
Author: Sofie Budman <[email protected]>
Date:   Tue Mar 5 16:16:39 2024 -0800

    updated max vel

commit 0b5d292
Merge: 43acf02 ddf7573
Author: Brandon <[email protected]>
Date:   Tue Mar 5 16:15:50 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 43acf02
Author: Brandon <[email protected]>
Date:   Tue Mar 5 16:15:40 2024 -0800

    added the inverted for #17

commit ddf7573
Author: FriedLongJohns <[email protected]>
Date:   Tue Mar 5 16:13:53 2024 -0800

    correct Izone

commit 5a37fa4
Author: Brandon <[email protected]>
Date:   Tue Mar 5 15:43:31 2024 -0800

    removed armFollowerEncoder fix to #23

commit 556ee37
Author: Brandon <[email protected]>
Date:   Tue Mar 5 15:30:28 2024 -0800

    sysid nondefalt config fix to #13?

commit 0dd661b
Author: stwiggy <[email protected]>
Date:   Tue Mar 5 14:47:34 2024 -0800

    #18

commit d4af6c7
Author: stwiggy <[email protected]>
Date:   Tue Mar 5 14:46:35 2024 -0800

    issue #20

commit 820310f
Author: stwiggy <[email protected]>
Date:   Tue Mar 5 13:48:30 2024 -0800

    issue #14 changed

commit 864bd30
Author: aaronC34 <[email protected]>
Date:   Mon Mar 4 23:45:20 2024 -0800

    finalized pos tol rad and vel tol rad

commit 071ebe6
Author: aaronC34 <[email protected]>
Date:   Mon Mar 4 23:38:51 2024 -0800

    fixed formatting and added number to pos tolerance(NOT FINALIZED NUMBER)

commit 1919ce2
Author: Brandon <[email protected]>
Date:   Mon Mar 4 21:45:03 2024 -0800

    removed margin of error

commit 0157dcd
Author: Brandon <[email protected]>
Date:   Mon Mar 4 20:18:33 2024 -0800

    turns off pid if arm overshoots

commit 9d00521
Author: Brandon <[email protected]>
Date:   Mon Mar 4 18:52:52 2024 -0800

    edge cases to driveArm()

commit f678c1d
Author: Brandon <[email protected]>
Date:   Mon Mar 4 18:50:28 2024 -0800

    Added comments

commit 96f6cb5
Author: Brandon <[email protected]>
Date:   Mon Mar 4 18:48:26 2024 -0800

    disables pid once it is wihtin tolerance

commit ca60b94
Author: Brandon <[email protected]>
Date:   Mon Mar 4 18:22:19 2024 -0800

    ran alt shift f for everything

commit dd1ac71
Author: Brandon <[email protected]>
Date:   Mon Mar 4 23:17:53 2024 +0000

    rad for lower upper angle

commit 33520ca
Author: Brandon <[email protected]>
Date:   Mon Mar 4 23:16:34 2024 +0000

    More units

commit 6ce18d3
Author: Brandon <[email protected]>
Date:   Mon Mar 4 23:15:09 2024 +0000

    Removed seperate setPosition

commit d557415
Author: Brandon <[email protected]>
Date:   Mon Mar 4 23:12:55 2024 +0000

    More Units

commit 5ea8b8e
Author: Brandon <[email protected]>
Date:   Mon Mar 4 23:08:58 2024 +0000

    RAD

commit 9b1d4fb
Author: Brandon <[email protected]>
Date:   Mon Mar 4 23:02:09 2024 +0000

    changed goal state to private

commit 5b8830b
Merge: 15c4f0b 405f752
Author: Sofie Budman <[email protected]>
Date:   Sun Mar 3 15:16:57 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/deepbluerobotics/RobotCode2024 into sofie-arm

commit 15c4f0b
Author: Sofie Budman <[email protected]>
Date:   Sun Mar 3 15:16:10 2024 -0800

    ports!

commit 405f752
Author: Team 199 Driver Station Computer <[email protected]>
Date:   Sun Mar 3 13:56:01 2024 -0800

    set left and right motor ports

commit 080ede3
Author: Sofie Budman <[email protected]>
Date:   Sun Mar 3 13:04:28 2024 -0800

    made it look nice :)

commit 69a70a9
Author: Sofie Budman <[email protected]>
Date:   Sun Mar 3 12:30:15 2024 -0800

    got rid of follower pid

commit b1b5d42
Author: stwiggy <[email protected]>
Date:   Sun Mar 3 11:25:08 2024 -0800

    armteleop clamping

commit ff6a115
Author: stwiggy <[email protected]>
Date:   Sun Mar 3 11:02:57 2024 -0800

    deleted follower motor's bounds

commit a0e46b3
Merge: 32bf0ca 5a215e8
Author: stwiggy <[email protected]>
Date:   Sun Mar 3 10:50:30 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 32bf0ca
Author: stwiggy <[email protected]>
Date:   Sun Mar 3 10:48:28 2024 -0800

    buttons, constants, and arm bounds

commit 5a215e8
Author: Brandon <[email protected]>
Date:   Sun Mar 3 10:41:24 2024 -0800

    maybe fixed the pid wrapping

commit 6b29cd6
Author: Brandon <[email protected]>
Date:   Sun Mar 3 10:37:08 2024 -0800

    undo bad stuff I did

commit 8775659
Author: Brandon <[email protected]>
Date:   Sun Mar 3 10:33:32 2024 -0800

    Fixed angle mistake made by me

commit d14677e
Author: Brandon <[email protected]>
Date:   Sun Mar 3 10:30:57 2024 -0800

    absolute encoder wrapping, im not sure it this works tho

commit 2ac4b07
Author: Brandon <[email protected]>
Date:   Sun Mar 3 10:14:17 2024 -0800

    fixed incorrect usage of getCurrentArmState() in driveArm()

commit 2fb1a2f
Author: Sofie Budman <[email protected]>
Date:   Sun Mar 3 09:58:34 2024 -0800

    organized constants

commit 173787b
Author: Sofie Budman <[email protected]>
Date:   Sun Mar 3 00:41:10 2024 -0800

    no more paramaters for drive arm!

commit f3b27d0
Author: stwiggy <[email protected]>
Date:   Sun Mar 3 00:27:45 2024 -0800

    resetGoal finished?

commit 555e0cc
Author: stwiggy <[email protected]>
Date:   Sun Mar 3 00:23:16 2024 -0800

    specified arm pid

commit 48c4e7a
Merge: 9a262b9 999bb89
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:39:32 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 9a262b9
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:39:28 2024 -0800

    Fixed resetGoal

commit 999bb89
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:38:30 2024 -0800

    setarrmtarget in teleop

commit baf30a2
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:36:16 2024 -0800

    setArmTarget changes

commit 3e3f011
Merge: 706a79d 71886b3
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 23:34:50 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 706a79d
Merge: 464435e 531f1ab
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 23:34:46 2024 -0800

    changed variables for upper/lower angle limits

commit 71886b3
Merge: 058095a 531f1ab
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:34:15 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 058095a
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:34:12 2024 -0800

    driveArm

commit 464435e
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 23:32:42 2024 -0800

    deleted comment

commit 531f1ab
Merge: fb43ede 24c1634
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:32:15 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/deepbluerobotics/RobotCode2024 into sofie-arm

commit fb43ede
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:32:11 2024 -0800

    got rid of unnesecary constants

commit 24c1634
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:31:06 2024 -0800

    rps

commit fc8fdb8
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:30:31 2024 -0800

    degrees instead of rotations

commit e0c668d
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:28:21 2024 -0800

    boundaries

commit 9535134
Merge: 8d7ea0c dc02eae
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 23:27:29 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 8d7ea0c
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 23:27:26 2024 -0800

    placeholder confirmation

commit dc02eae
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:26:53 2024 -0800

    got rid of comment

commit 40ddd51
Merge: 42216a1 ee7d0b7
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:25:46 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/deepbluerobotics/RobotCode2024 into sofie-arm

commit 42216a1
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:25:43 2024 -0800

    got rid of extra setvoltage

commit ee7d0b7
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:25:35 2024 -0800

    renamed constants

commit 94e9c83
Merge: 49c5df7 cdaa7ac
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:24:21 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 49c5df7
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:24:10 2024 -0800

    Renamed motor ports

commit cdaa7ac
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:24:03 2024 -0800

    no more eerors

commit c10e296
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:23:26 2024 -0800

    added motor inverted

commit aa2233f
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:22:18 2024 -0800

    added space for charleses eyes

commit 4f8ad80
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:18:58 2024 -0800

    fixed ArmTeleop

commit 986bbb1
Merge: 244d642 ec758ef
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 23:18:02 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 244d642
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 23:18:00 2024 -0800

    ff volts

commit ec758ef
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:15:45 2024 -0800

    changed to setarm target in robocontainer

commit e11233c
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:10:09 2024 -0800

    public --> private

commit ff59c77
Author: Brandon <[email protected]>
Date:   Sat Mar 2 23:04:41 2024 -0800

    deleted timer

commit d30dc08
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 23:03:28 2024 -0800

    encoders worky

commit dba004b
Merge: 987a02d 1ac6c55
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 22:52:35 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 987a02d
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 22:52:32 2024 -0800

    wrapped arm pids

commit 1ac6c55
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 22:49:53 2024 -0800

    armpid stuff

commit 9dc6e76
Merge: 1c54cf6 fe8fcb4
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 22:20:54 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 1c54cf6
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 22:20:09 2024 -0800

    arm boundaries

commit fe8fcb4
Author: Brandon <[email protected]>
Date:   Sat Mar 2 22:18:32 2024 -0800

    Readded COM stuff

commit 832386d
Merge: 79e1759 6dd5c89
Author: Brandon <[email protected]>
Date:   Sat Mar 2 22:16:11 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 79e1759
Author: Brandon <[email protected]>
Date:   Sat Mar 2 22:16:00 2024 -0800

    Fixed feed forward

commit 6dd5c89
Merge: 83100c2 2072eeb
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 22:14:26 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 83100c2
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 22:14:22 2024 -0800

    no constants in arm

commit 2072eeb
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 22:02:55 2024 -0800

    got rid of timer again

commit dc69883
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 22:00:22 2024 -0800

    move pid

commit f55615e
Merge: e00d3c1 3ecde74
Author: aaronC34 <[email protected]>
Date:   Sat Mar 2 21:59:20 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit e00d3c1
Author: aaronC34 <[email protected]>
Date:   Sat Mar 2 21:58:51 2024 -0800

    added two motors in set volts

commit 3ecde74
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 21:58:09 2024 -0800

    arm current state worky

commit 69c94ff
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:56:55 2024 -0800

    fixed feed forward

commit 8ff445e
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:52:30 2024 -0800

    armAtSetpoint()

commit 8fe76e7
Merge: f3e0171 36d1890
Author: aaronC34 <[email protected]>
Date:   Sat Mar 2 21:50:43 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit f3e0171
Author: aaronC34 <[email protected]>
Date:   Sat Mar 2 21:50:41 2024 -0800

    adeed sysid

commit 36d1890
Merge: 30e00bf 7ce82f7
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 21:46:31 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 30e00bf
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 21:46:27 2024 -0800

    no timer

commit 7ce82f7
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:45:56 2024 -0800

    fixed arm teleop

commit c31cefc
Merge: fc75e06 09e2322
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 21:42:23 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/deepbluerobotics/RobotCode2024 into sofie-arm

commit fc75e06
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 21:42:20 2024 -0800

    public now it was bad

commit 09e2322
Merge: 814cd64 67be12a
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 21:42:16 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 814cd64
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 21:42:12 2024 -0800

    deleted smartdashboards

commit 67be12a
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 21:41:41 2024 -0800

    public -->private

commit a84323d
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 21:40:30 2024 -0800

    delted timer

commit e5326cd
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 21:38:04 2024 -0800

    fixed ff

commit 4905679
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 21:36:12 2024 -0800

    made constants good

commit 9f78fd7
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 21:34:50 2024 -0800

    merge

commit 5e97f39
Merge: e779bdb 7814fcd
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 21:34:40 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit e779bdb
Merge: f4b812c 21f8ba9
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 21:33:47 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit 7814fcd
Merge: aa97468 d2608ba
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 21:29:45 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/deepbluerobotics/RobotCode2024 into sofie-arm

commit aa97468
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 21:27:27 2024 -0800

    fixed encoders + motor to follower

commit d2608ba
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:27:11 2024 -0800

    Master + Follower Motors

commit f4b812c
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 21:27:10 2024 -0800

    formatted constants

commit 21f8ba9
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:25:52 2024 -0800

    More organization

commit 84db8ea
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:24:53 2024 -0800

    Degrees to raidans

commit 656e1ad
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:24:03 2024 -0800

    Fixed erros within constants

commit 242e288
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:23:10 2024 -0800

    More Constants things

commit 48c0c01
Merge: a9d3dfa 92e51b8
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:22:52 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/RobotCode2024 into sofie-arm

commit a9d3dfa
Author: Brandon <[email protected]>
Date:   Sat Mar 2 21:15:57 2024 -0800

    added snake casing

commit 92e51b8
Author: Sofie Budman <[email protected]>
Date:   Sat Mar 2 21:15:02 2024 -0800

    organized constants

commit e0b5447
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 11:49:18 2024 -0800

    Revert "renamed variables to master and follower"

    This reverts commit 2ca1604.

commit 840a3b4
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 11:49:04 2024 -0800

    Revert "Cleaned Constants.java"

    This reverts commit ae60a0c.

commit 60e0d4b
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 11:48:43 2024 -0800

    Revert "set correct motor and encoder configs"

    This reverts commit ed4363b.

commit 74bd52f
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 11:48:32 2024 -0800

    Revert "coded Arm Subsystem"

    This reverts commit 3e9b62f.

commit 52bca56
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 11:48:19 2024 -0800

    Revert "finished arm subsystem"

    This reverts commit f141379.

commit 65c7640
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 11:47:43 2024 -0800

    Revert "added SysID"

    This reverts commit 3aa63e4.

commit 3aa63e4
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 11:14:35 2024 -0800

    added SysID

commit f141379
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 10:17:06 2024 -0800

    finished arm subsystem

commit 3e9b62f
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 09:56:10 2024 -0800

    coded Arm Subsystem

commit ed4363b
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 09:28:20 2024 -0800

    set correct motor and encoder configs

commit ae60a0c
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 01:56:59 2024 -0800

    Cleaned Constants.java

commit 2ca1604
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 01:37:54 2024 -0800

    renamed variables to master and follower

commit 4af15e5
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 01:32:46 2024 -0800

    deleted unrelated subsystem

commit e4bdef2
Author: ProfessorAtomicManiac <[email protected]>
Date:   Sat Mar 2 01:32:31 2024 -0800

    delete unused command

commit 3e58126
Author: Juliaaaahhhh <[email protected]>
Date:   Sat Mar 2 00:40:52 2024 -0800

    minor misc changes

commit bd5793c
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 00:21:51 2024 -0800

    no more errors in armteleop woo hoo

commit 5d98af8
Author: stwiggy <[email protected]>
Date:   Sat Mar 2 00:17:10 2024 -0800

    calculateCustomSetPoint added - 1 error left

commit aba73c3
Author: Sofie Budman <[email protected]>
Date:   Fri Mar 1 23:43:17 2024 -0800

    fixed arm.java

commit 3160103
Author: Sofie Budman <[email protected]>
Date:   Fri Mar 1 23:33:31 2024 -0800

    fixed driveArm

commit 07eec62
Author: Sofie Budman <[email protected]>
Date:   Fri Mar 1 23:09:17 2024 -0800

    constants + issues

commit a6b4f82
Merge: 44b3ccd e472500
Author: Sofie Budman <[email protected]>
Date:   Fri Mar 1 23:04:51 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/deepbluerobotics/RobotCode2024 into sofie-arm

commit 44b3ccd
Author: Sofie Budman <[email protected]>
Date:   Fri Mar 1 23:04:47 2024 -0800

    fixed constants

commit e472500
Author: Kenneth-Choothakan <[email protected]>
Date:   Fri Mar 1 23:01:57 2024 -0800

    fixed requested speeds

commit 494eea0
Author: Kenneth-Choothakan <[email protected]>
Date:   Fri Mar 1 22:57:06 2024 -0800

    removed commands

commit 8a91064
Merge: 23581c6 26f86ef
Author: Sofie Budman <[email protected]>
Date:   Fri Mar 1 22:52:08 2024 -0800

    Merge branch 'sofie-arm' of https://github.com/deepbluerobotics/RobotCode2024 into sofie-arm

commit 23581c6
Author: Sofie Budman <[email protected]>
Date:   Fri Mar 1 22:51:21 2024 -0800

    got rid of issues and made the drive arm method

commit 26f86ef
Author: Kenneth-Choothakan <[email protected]>
Date:   Fri Mar 1 22:47:35 2024 -0800

    Added master and slave motor

commit cbd88d6
Author: Sofie Budman <[email protected]>
Date:   Fri Mar 1 20:35:08 2024 -0800

    copied 2023

commit 9d871f8
Author: Juliaaaahhhh <[email protected]>
Date:   Fri Mar 1 19:18:21 2024 -0800

    Trapezoid Math Stuff :]

commit ab2ef91
Author: Juliaaaahhhh <[email protected]>
Date:   Fri Mar 1 17:18:35 2024 -0800

    max feed forward acceleration added + max voltage in constants

commit 5b7a4a5
Author: Juliaaaahhhh <[email protected]>
Date:   Fri Mar 1 16:30:24 2024 -0800

    got rid of Constants.arm on all constants

commit 0686ec9
Author: Kenneth-Choothakan <[email protected]>
Date:   Thu Feb 29 21:28:05 2024 -0800

    Added a lot more buttons for 3 dif speaker, and climber

commit 1957d0c
Author: Kenneth-Choothakan <[email protected]>
Date:   Fri Mar 1 04:53:12 2024 +0000

    resolved some comments B)

commit 9092c78
Author: Kenneth-Choothakan <[email protected]>
Date:   Thu Feb 29 20:01:29 2024 -0800

    ArmTeleop first attempt

commit 04b8b67
Merge: adee65f 8f1e2a1
Author: Sofie Budman <[email protected]>
Date:   Tue Feb 27 19:45:38 2024 -0800

    Merge branch 'aaron-and-Raya-Arm' of https://github.com/deepbluerobotics/RobotCode2024 into aaron-and-Raya-Arm

commit adee65f
Author: Sofie Budman <[email protected]>
Date:   Tue Feb 27 19:45:33 2024 -0800

    izone

commit 8f1e2a1
Author: Juliaaaahhhh <[email protected]>
Date:   Tue Feb 27 19:24:25 2024 -0800

    driveArm, delete unecessary stuff, etc.

commit 6acb48c
Author: Sofie Budman <[email protected]>
Date:   Tue Feb 27 17:19:41 2024 -0800

    changed ot use setFF

commit 20fab44
Author: asthmaticlibrarian <[email protected]>
Date:   Tue Feb 27 16:51:50 2024 -0800

    Update Constants.java

    added arm weight and length

commit 1c09a6d
Author: Sofie Budman <[email protected]>
Date:   Tue Feb 27 16:37:09 2024 -0800

    arm pid

commit 5e3faf0
Author: Sofie Budman <[email protected]>
Date:   Tue Feb 27 16:14:21 2024 -0800

    Update Arm.java

commit 99ae01a
Author: theodoremui <[email protected]>
Date:   Tue Feb 20 18:34:14 2024 -0800

    adding changes to ArmTeleop

commit 4e126b8
Author: Sofie Budman <[email protected]>
Date:   Tue Feb 20 21:49:44 2024 +0000

    fgggf

commit 247d9d7
Merge: 28ca8a5 a28d22c
Author: Kenneth-Choothakan <[email protected]>
Date:   Tue Feb 20 13:19:17 2024 -0800

    Kenneth merge the thing

commit 28ca8a5
Author: Kenneth-Choothakan <[email protected]>
Date:   Tue Feb 20 13:08:46 2024 -0800

    Kenneth first attempt at the button arm angle movements

commit a28d22c
Author: Sofie Budman <[email protected]>
Date:   Tue Feb 20 07:05:58 2024 +0900

    timer

commit bbeca40
Author: Sofie Budman <[email protected]>
Date:   Mon Feb 19 22:18:39 2024 +0900

    changed trapezoid profile to not use deprecated stuff

commit b2b20e2
Author: Kenneth-Choothakan <[email protected]>
Date:   Sat Feb 3 03:34:28 2024 +0000

    Tried implementing trapezoidal profile

commit 47e0138
Author: Kenneth-Choothakan <[email protected]>
Date:   Sat Feb 3 01:21:42 2024 +0000

    Merged code

commit 3c19b6a
Merge: edc775e c5f4b75
Author: Kenneth-Choothakan <[email protected]>
Date:   Sat Feb 3 01:21:33 2024 +0000

    Completed merge of new stuff

commit edc775e
Author: Kenneth-Choothakan <[email protected]>
Date:   Sat Feb 3 01:18:50 2024 +0000

    Merged some code

commit c5f4b75
Author: ProfessorAtomicManiac <[email protected]>
Date:   Tue Jan 30 16:45:23 2024 -0800

    improved arm code stubs - Aaron

commit aedeadd
Merge: 67b9564 4438311
Author: Kenneth-Choothakan <[email protected]>
Date:   Sun Jan 28 20:23:16 2024 +0000

    I merged the changes from friday

commit 67b9564
Author: Kenneth-Choothakan <[email protected]>
Date:   Sun Jan 28 19:51:02 2024 +0000

    Arm teleop mode code is 3/4 way done except trapezoidal movement

commit 4438311
Author: FriedLongJohns <[email protected]>
Date:   Sat Jan 27 18:57:48 2024 -0800

    remove random 'd'

commit ead8ece
Author: RayaSkaf <[email protected]>
Date:   Sun Jan 28 00:21:17 2024 +0000

    Created the commands for the different positions for arm

commit 74d6d96
Author: RayaSkaf <[email protected]>
Date:   Sat Jan 27 23:58:27 2024 +0000

    Commented out one of the arms because only one is needed

commit abcee2b
Author: theodoremui <[email protected]>
Date:   Fri Jan 26 17:17:22 2024 -0800

    fixing ArmTeleop constructor arguments

commit 459871d
Author: theodoremui <[email protected]>
Date:   Fri Jan 26 17:08:21 2024 -0800

    adding pid controller

commit 4eb5cc5
Author: theodoremui <[email protected]>
Date:   Fri Jan 26 17:05:19 2024 -0800

    adding pid controller

commit 8b3cf15
Author: aaron345678 <[email protected]>
Date:   Sat Jan 20 00:22:11 2024 +0000

    Resolved all prs from Alexander the great

commit 2f54547
Author: Kenneth-Choothakan <[email protected]>
Date:   Sat Jan 20 00:09:55 2024 +0000

    fixed some of the comments

commit fa169c8
Author: aaronchun345678 <[email protected]>
Date:   Thu Jan 18 22:23:55 2024 -0800

    Fix arm code stubs

commit 71cabca
Merge: 1496ebd 956c274
Author: Kenneth-Choothakan <[email protected]>
Date:   Thu Jan 18 20:43:18 2024 -0800

    Merge branch 'master' into aaron-and-Raya-Arm

commit 1496ebd
Author: Kenneth-Choothakan <[email protected]>
Date:   Fri Jan 19 04:25:26 2024 +0000

    changed armteleop so its a defualt command instead of periodic in subsystem

commit 65dc6b6
Author: aaronchun345678 <[email protected]>
Date:   Thu Jan 18 19:38:52 2024 -0800

    Arm code stubs

commit 07dffeb
Author: DriverStationComputer <[email protected]>
Date:   Tue Jan 16 19:45:18 2024 -0800

    added getArmClampedGoal

commit b9495e1
Author: DriverStationComputer <[email protected]>
Date:   Tue Jan 16 18:06:18 2024 -0800

    added more ath

commit 26d86d3
Author: DriverStationComputer <[email protected]>
Date:   Tue Jan 16 17:32:51 2024 -0800

    fixed most errors
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