Merge Limelight, Some Auto & Climber to MAIN #16
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
1ceit
requested review from
BenBerol and
MyaTaheri
and removed request for
BenBerol
ArchdukeTim
reviewed
Mar 14, 2024
| speedRotController = new PIDController(0.05, 0.002, 0); | ||
| speedRotController.enableContinuousInput(-180, 180); | ||
|
|
||
| addRequirements(swerveDrive, limelight); |
There was a problem hiding this comment.
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); |
Comment on lines
+19
to
+20
| new RunCommand(() -> this.climberSubsystem.climb(0.25), this.climberSubsystem).withTimeout(1.5), | ||
| new RunCommand(() -> this.climberSubsystem.climb(-0.25), this.climberSubsystem).withTimeout(0.5) |
There was a problem hiding this comment.
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); |
There was a problem hiding this comment.
leftMotor.setInverted(true)
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.