Rongrui - ArmSubsystem ReconcileArmAlignmentCommand #32
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Extend, retract, stop.
Rongrrz
changed the title
JohnGilb
requested changes
Jan 24, 2024
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| // Put power within limit range (if not already) | ||
| power = MathUtils.constrainDouble(power, setPowerMin.get(), setPowerMax.get()); | ||
| leftPower = MathUtils.constrainDouble(leftPower, setPowerMin.get(), setPowerMax.get()); |
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If we don't check for sane values of max/min, then this could be dangeorus.
JohnGilb
approved these changes
Jan 24, 2024
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Why are we doing this?
This is for if one day we come and the robot arms are out of sync, we can realign them.
Asana task URL: https://app.asana.com/0/38541457243752/1206388200337120/f
Whats changing?
Added ReconcileArmAlignmentCommand.
Questions/notes for reviewers
I am not sure regarding the button choices to activate the two commands, am also unsure of the power set (if it is enough or too low or too much).
How this was tested