Issue #86 hanging mechanism #87
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…rom 2000 to 9856 so that it goes all the way up.
2024/opmodes/TwoStickTeleop.java
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| liftMotorTask = new OneWheelDriveTask(this, liftMotor, true); | ||
| liftMotorTask.slowDown(false); | ||
| // liftMotorTask = new OneWheelDriveTask(this, liftMotor, true); | ||
| // liftMotorTask.slowDown(false); |
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Please don't leave commented out software in pull requests. It is fine to comment out software as you are experimenting and debugging, but software presented for merge should be free of this sort of commented out software.
2024/opmodes/TwoStickTeleop.java
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| // set arm to extend to its highest capacity to lift robot | ||
| hangingMotor.setTargetPosition(HANGING_FULLY_EXTENDED); | ||
| // encoder allows you to know how much the motor has spun (distance) | ||
| hangingMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION); |
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This is fine, but RunToEncoderValueTask is designed to accomplish just this functionality while also telling you where it is and when it is finished through the event callbacks.
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Based on a quick read of RunToEncoderValueTask.java, it looks like each instantiation of the task goes through the STOP_AND_RESET_ENCODER, setTargetPosition, RUN_TO_POSITION cycle, resetting the absolute position each time, which I think is not desirable.
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The handling of the bool currentlySlow variable is a bit confusing since it doesn't match the name of the variable. Additionally, since the speed multiplier is greater than 1.0, I think it is making it more difficult to drive the robot because it is limiting the proportional control range for your motor speeds in "fast mode".
- If
currentlySlowis true, the speed multiplier should be set to the smaller multiplier slowDownshould not be set to a number greater than 1.0 to avoid losing proportional control range.
This code allows the teleop buttons to lift the hanging mechanism when "y" is pushed and to bring down the mechanism when "a" is pushed. This was tested with the robot in today's meeting.