Merge Limelight, Some Auto & Climber to MAIN #16
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1ceit
requested review from
MyaTaheri and
BenBerol
and removed request for
BenBerol
ArchdukeTim
reviewed
Mar 14, 2024
| speedRotController = new PIDController(0.05, 0.002, 0); | ||
| speedRotController.enableContinuousInput(-180, 180); | ||
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| addRequirements(swerveDrive, limelight); |
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I don't think you should require limelight. You don't actually care if two commands that use limelight are running at the same time (and in fact may want that if you want to drive and aim your shooter at the same time)
| public void climb(double speed) { | ||
| leftMotor.set(speed); | ||
| leftMotor.set(-speed); |
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| new RunCommand(() -> this.climberSubsystem.climb(0.25), this.climberSubsystem).withTimeout(1.5), | ||
| new RunCommand(() -> this.climberSubsystem.climb(-0.25), this.climberSubsystem).withTimeout(0.5) |
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Are your climb motors neos? You could use the encoder position that is built in to know if the climber is up, rather than relying on time.
ArchdukeTim
reviewed
Mar 14, 2024
| public void climb(double speed) { | ||
| leftMotor.set(speed); | ||
| double speed1 = speed + 0.1; | ||
| leftMotor.set(-speed1); |
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leftMotor.setInverted(true)
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