add basic implementation for Shoulder code #23
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not yet integrated with OI or any Procedures.
| double rotations = EncoderUtils.shoulderDegreesToRotations(angle); | ||
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| // set the reference point for the wrist | ||
| pidController.setReference(rotations, ControlType.kPosition, 0, ff); |
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here the ControlType should be kSmartMotion I believe if you want to use the other fancy things
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thanks Max! agreed - we'll switch to that if/when we use it, tho keeping it at position since we're just setting P, I, D, and FF for now. we don't need the rest yet, at least for the initial version. (we ended up not needing it (at least in the time we had before CC) for the other mechanisms.)
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see aa8bd25 for the history with the other mechanisms if you're curious.
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I see. All looks good then, have fun fighting Jay('s linter).
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Thank you!
Yeah, it's the various whitespace checks. I'll adhere to them for now, tho I actually disagree with some of them (they make code a bit harder to read), so I might make some edits to our checkstyle.xml.
When I get a chance, I'll also see if we can switch to a client-side linter (with github side checks as well), so we can check/automatically reformat code as part of the authoring process, vs the submission process. eg https://docs.wpilib.org/en/stable/docs/software/advanced-gradlerio/code-formatting.html.
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PTAL |
Description
Basic implementation of Shoulder code.
Also cleans up some existing comments.
Next PR will integrate Shoulder with OI, to add PIDless nudges so we can test and calibrate.
How Has This Been Tested?
Not yet. Writing this in advance of having access to robot and new shoulder.