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Velocity-formula-and-hood-comp - #20
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kevinfrei
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kevinfrei
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Lots of changes requested. Please go through the comments on github and respond to the questions if there are some. Only resolve comments with no response if you made the changes requested. Once you've made the changes, commit & push them to the same branch, and github will update the PR.
One silly naming idea: Instead of something saying "getTurretAngle" maybe switch to 'getTurrentRadians' to avoid unit confusion? "Pos" -> Servo position data, "Loc/Pose" -> and X/Y (+heading) location, "Radians"/"Degrees" -> a direction with obvious units. "Power" -> Motor "duty cycle". (I'm not asking you to make these changes now, but I'm curious about your thoughts on that)
| @Override | ||
| public void runLoop() {} | ||
| public void runLoop() { | ||
| robot.follower.update(); |
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Needing to put this here feels like there's a bug in the PedroFollower joystick command or the Pedro drivebase as that's where the update() probably should occur (in the command's execute function, or in the drivebase's periodic function)
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honestly it might be but this comment to me sounds more like a note for future kevin then for colin lol
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lol. yeah, you're right. We'll get this figured out with the whole prog team.
…e of the turret stuff will review when i get home i just needed to get some stuff so we could test pid values and velocity
…ood comp angle and velocity constants will most likely need to be tuned the velocity regression is prob gonna be the most far off the other idk
… 1 auto we have + a small intake addition!
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Rebasing is such a delight... |
4 participants
Summary
implemented auto velocity auto hood angle and hood velocity compensation i used some physics to get decently close values although i expect the velocity formula to be decently off
Validation
hasnt been reviewed yet
has not been tested on the robot will prob test it tuesday
nope