Wrist Testing Proceedure

Setup

Fill in all constants:

• Fill in all PID constants, including the feed forward constant.
• Set MOTOR_ID to the CAN ID of the wrist motor.
• If needed, adjust TOLERANCE.
• If you are simulating the robot, you must also fill in all values prefixed with SIM_. You will probably need someone from design for this.

Testing Procedure

1. Put the wrist in the down position.
2. Set Constants.RUNNING_TEST_PLANS to true.
3. Push code and select the auto "[TEST] Rotate Wrist"
4. Enable in auto. The wrist should rotate 90 degrees, then snap back.