Arm Brake & 2-Note Auto with Simulated Note #110
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JohnGilb
changed the title
aschokking
approved these changes
Feb 20, 2024
| // Drive to the middle note while collecting | ||
| queueMessageToAutoSelector("Drive to middle note"); | ||
| var driveToMiddleSpike = swerveProvider.get(); | ||
| driveToMiddleSpike.logic.setEnableConstantVelocity(true); |
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⭐ I think these longer command group constructors start getting hard to read. What do you think about logic like all this stuff for setting up a particular command ending up in a function so the top level constructor is just "do these 5 commands in this sequence"
| stopDrive)); | ||
| } | ||
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| private void queueMessageToAutoSelector(String message) { |
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⭐ fun idea! But maybe something that should live on a base class?
| if (dynamicBrakingEnabled) { | ||
| // Engage the brake so we don't backdrive away from this point | ||
| // (vibrations from the shooter can cause that) | ||
| arm.setBrakeEnabled(true); |
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⭐ just out of curiosity, why not manage the break inside the subsystem based on the power that's sent, how would it be different to disengage with non-zero power and engage with zero-ish power?
src/main/java/competition/subsystems/arm/commands/ManipulateArmBrakeCommand.java
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Why are we doing this?
Add some manual brake control, and disabled automatic brake control, add 2-note auto
Asana task URL:
Whats changing?
Questions/notes for reviewers
How this was tested