Shooter wheel maintainer command #58
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| double speed = wheel.getTargetValue(); | ||
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| if (wheel.isCalibrated()) { | ||
| wheel.setPower(1.0); |
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⭐ ⭐ ⭐ instead of setting full power, this should be running the PID on the goal speed to figure out what power to send
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| @Override | ||
| protected Double getHumanInput() { |
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@JohnGilb I'm wondering if we should have a more simple version of maintainer that doesn't have human input as a concept and then a more complicated version that does?
src/main/java/competition/subsystems/shooter/commands/ShooterWheelMaintainerCommand.java
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src/main/java/competition/subsystems/shooter/commands/ShooterWheelMaintainerCommand.java
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| @Override | ||
| protected double getErrorMagnitude() { | ||
| return 0; |
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⭐ ⭐ ⭐ this needs to return how far off the current speed is from the goal
| super(wheel, pf, hvmFactory, 0, 0); | ||
| this.oi = oi; | ||
| this.wheel = wheel; | ||
| this.addRequirements(this.wheel); |
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⭐ ⭐ You don't actually have to add this requirement yourself, the BaseMaintainerCommand will do it for you because you pass in wheel on line 16 already
| return 0.0; | ||
| } | ||
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| protected boolean getErrorWithinTolerance() { |
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⭐ ⭐ now that we don't have custom error thresholds anymore, I think we don't need this method at all since the base one does this logic already: https://github.com/Team488/SeriouslyCommonLib/blob/main/src/main/java/xbot/common/command/BaseMaintainerCommand.java#L199
Why are we doing this?
ShooterWheelMaintainerCommand reads and controls values.
Asana task URL: https://app.asana.com/0/38541457243752/1206397614455703
Create ShooterWheelMaintainerCommand
Whats changing?
Questions/notes for reviewers
How this was tested