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Intake tries to target zero inside frame #31

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KenwoodFox opened this issue Mar 28, 2024 · 0 comments

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KenwoodFox commented Mar 28, 2024

Two ways to fix it

Improve the patch here (messy but requires no work)

1721-Crescendo/rio/commands/rotateIntake.py

Lines 29 to 32 in 8f62629

    
           if self.intakeSubsystem.getAngle() < 0: 
        
               # Prevents starting PID from a pose less than 0 
        
               self.intakeSubsystem.manualLift(0.1) 
        
               logging.warn("Intake angle is too inset in frame!")

Reset the zero on the encoder further into the frame than is possible to rotate to @NotSimon5673's suggestion

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