new intake special movements #51
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subsystems/intakesubsystem.py
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| @@ -161,7 +157,7 @@ def periodic(self) -> None: | |||
| * constants.kPivotGearRatio, | |||
| ) | |||
| self.intakeMotor.set( | |||
| NEOBrushless.ControlMode.Velocity, constants.kIntakeSpeed * -1 | |||
| NEOBrushless.ControlMode.Velocity, constants.kIntakePercentageVoltage * -1 | |||
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we should have a different ejecting voltage than intaking
subsystems/intakesubsystem.py
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| self.intakeMotor.set(NEOBrushless.ControlMode.Position, self.heldPosition) | ||
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| if self.putInPlace: | ||
| self.intakeMotor.set(NEOBrushless.ControlMode.Position, self.heldPosition) |
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shouldn't this hold position logic exist in other held areas?
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Yeah, this is far from done but wanted to see if this seems about right for the general idea
lmaxwell24
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subsystems/intakesubsystem.py
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| self.intakeMotor.set( | ||
| NEOBrushless.ControlMode.Position, self.heldPosition | ||
| NEOBrushless.ControlMode.Percent, constants.kIntakePercentageVoltage |
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should probably be slower here for fine control, like 1/2 speed
constants.py
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| 50 | ||
| ) # Safe place roughly vertical before going to amp or trap | ||
| kAmpScoringPositionAngle = Rotation2d.fromDegrees(69.939031) | ||
| kStagingPositionangle = kAmpScoringPositionAngle |
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you set this constant to 50 degrees and then redefine it
| @@ -68,6 +69,9 @@ def periodic(self) -> None: | |||
| frontLimitState = self.intakeMotor.getLimitSwitch(self.frontSensor) | |||
| backLimitState = self.intakeMotor.getLimitSwitch(self.backSensor) | |||
| self.hasPosition = backLimitState or frontLimitState | |||
| if not self.hasPosition: | |||
| self.putInPlace = False | |||
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| if self.state == self.IntakeState.Intaking: | |||
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there's nothing in this state that tells the intake motor to run inwards, and there should also be logic for hasposition
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Intake running is done by voltage control, so it's assumed we have the inversion true/false the way that it is irl, also has position does have logic (it's true when either sensor is on, the line right above)
this isn't necessarily ready to be pushed in yet, but I'd like y'all to check over it anyway