Superstructure #2
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not much
We worked on this. This is our first version. We think that we included all the necessary functions (looked at 2022 for reference). - Suhaan and Jake
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Finish this file. Use enums to store position data. https://github.com/FRC5190/2023CompetitionSeason/blob/master/src/main/java/org/ghrobotics/frc2023/Superstructure.java#L122
| follower_.restoreFactoryDefaults(); | ||
| follower_.setInverted(false); | ||
| follower_.setIdleMode(CANSparkMax.IdleMode.kCoast); | ||
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Add follower_.follow(leader_);
| follower_.follow(leader_); |
| io_.current = follower_.getOutputCurrent(); | ||
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| if (io_.wants_zero) { | ||
| io_.wants_zero = false; |
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| // Constants | ||
| private static final class Constants { | ||
| public static final double kTolerance = 0; // NEED TO UPDATE |
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| public static final double kTolerance = 0; // NEED TO UPDATE | |
| public static final double kTolerance = 0.5; // NEED TO UPDATE |
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I don't think we need a Position way to do the climber set percent should work just fine and maybe we can use PID with trapezoidal to ensure smooth acceleration and movement
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| //get, set % output on intake. parameter is percent output [-1, 1] | ||
| public void setIntakePercent(double value) { |
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getter methods should be before the setter
| } | ||
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| //get, set % output on intake. parameter is percent output [-1, 1] | ||
| public void setIntakePercent(double value) { |
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| public void setIntakePercent(double value) { | |
| public void setPercent(double value) { |
Simplify method names (for get method as well) because when we call it in superstructure.java we're gonna have the intake object already. intake_.setPercent(value);
… into superstructure
Changed code to work with 2 motors(i hope)
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LGTM |
superstructure v1 edits (intake code)