New superstructure barge logic #180
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…o SoloController
| Commands.waitSeconds(0.7), | ||
| Commands.sequence( | ||
| spinnyClaw.algaeIntakePower(), | ||
| Commands.waitSeconds(0.3), |
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Instead of waiting a set amount of time, this should wait until the elevator is above some height so that it is more resilient to varying conditions. Ideally this would check for the elevator being above a certain velocity as well, but that isn't controlled closely.
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I agree, I didnt want to add much to the elevator code and/or impact it, which is why I didnt do that.
As to make it more resilient to various conditions, when the bargeAlign command runs a separate net Prescore command runs before hand, setting the elevator height and end effector position to the L2 algae height and the net score height respectively, therefore the velocity and travel time of the elevator is consistent.
With this in mind, this is a change we can totally make, but I first want to see where we can go with what we have now so far. Im down to work on that change on Thursday though, no promises if itll work though
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Im also concerned if the code will update fast enough read the encoder values fast enough to precisely do that, which is why id want to test that seperately
move the arm pivot
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@TrisDooley Test @ DP 10/8? (this branch also has the ground intake fix so maybe we should just run this at DP) |
fixes #177
Instead of driving up to the net and outtaking, this new logic instead flings the algae into the net by using momentum from the elevator.
May still need tuning for certain variables, but opens up our bargeAlign to more success
@TrisDooley can we run this a bit at DP?