anti tipping function #95
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TaylerUva
requested changes
Aug 17, 2025
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| driveTrainPitch = Units.Degrees.of( | ||
| subDrivetrain.pigeon.getPitch().getValueAsDouble()); | ||
| redAllianceMultiplier = constField.isRedAlliance() ? -1 : 1; |
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| driveTrainPitch = Units.Degrees.of( | ||
| subDrivetrain.pigeon.getPitch().getValueAsDouble()); | ||
| redAllianceMultiplier = constField.isRedAlliance() ? -1 : 1; | ||
| if (driveTrainPitch.gte(constDrivetrain.MAX_DRIVETAIN_PITCH) | ||
| || driveTrainPitch.lte(constDrivetrain.MIN_DRIVETRAIN_PITCH)) { | ||
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| globalMotion.setLiftPosition(constDrivetrain.RETRACT_LIFT_PITCH); | ||
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| } |
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Do we need to have this in both initialize and in execute? why or why not
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You need to do it constantly to make sure the robot isn't tilted too far, because its tilt can change at any moment.
TaylerUva
requested changes
Aug 17, 2025
| if (driveTrainPitch.gte(constDrivetrain.MAX_DRIVETAIN_PITCH) | ||
| || driveTrainPitch.lte(constDrivetrain.MIN_DRIVETRAIN_PITCH)) { | ||
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| globalMotion.setLiftPosition(constDrivetrain.RETRACT_LIFT_PITCH); |
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Do set positions with the NONE group as the position
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How do we deal with our mechanism position no longer matching our state desired position? |
TaylerUva
requested changes
Aug 20, 2025
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| private void setLiftPosition(Distance height) { | ||
| public void setLiftPosition(Distance height) { |
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Suggested change
| public void setLiftPosition(Distance height) { | |
| private void setLiftPosition(Distance height) { |
| } | ||
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| private void setLiftPosition(Distance height) { | ||
| public void setLiftPosition(Distance height) { |
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Suggested change
| public void setLiftPosition(Distance height) { | |
| private void setLiftPosition(Distance height) { |
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@Tejshah88 can you address the requested changes when you get the chance? |
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@BrodyKarr can you pull from main, resolve conflicts, and make sure its applied to both manual drive and pose driving? |
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