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Rewrite aimerio #40

Merged
merged 7 commits into from
Oct 9, 2024
Merged

Rewrite aimerio #40

merged 7 commits into from
Oct 9, 2024

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aidnem
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@aidnem aidnem commented Oct 9, 2024

Purpose
Rewrite AimerIoRoborio to use TalonFX to control the motors. Also moves all of the PID logic to be running on the talon and use Fused encoder input (combine CANcoder with motor's internal encoder for hopefully better results).

Project Scope

  • Create AimerIO for the robot
  • Configure kraken to use CANCoder as feedback sensor
  • Configure kraken to use PID constants to control arm
  • Add (low) voltage limit and current limit to the arm motor

@aidnem aidnem linked an issue Oct 9, 2024 that may be closed by this pull request
Rewrite the AimerIO for the actual robot #29
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jkleiber
jkleiber approved these changes Oct 9, 2024
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LGTM

@aidnem aidnem merged commit 4ba686f into main Oct 9, 2024
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@aidnem aidnem deleted the rewrite-aimerio branch October 9, 2024 23:34
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@jkleiber jkleiber jkleiber approved these changes

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Rewrite the AimerIO for the actual robot
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@aidnem @jkleiber @charlesmackenzie