Tail subsystem and commands #3
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I explain my trouble in TailSubsystem.kt
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TailUpCommand and TailDownCommand can be one file with the setpoint as an initializing argument
src/main/java/org/sert2521/bunnybots2024/subsystems/TailSubsystem.kt
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Since we are using a relative encoder instead of an absolute encoder, we should probably have a function that resets the encoder to a certain value. Since we don't have a feedforward here the literal value isn't needed, so I would just set it to zero.
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| override fun isFinished(): Boolean { | ||
| return tailPid.atSetpoint() |
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I don't think we should end this command. If the command ends after it hits the setpoint, then after it hits its setpoint it will go limp (with braking mode but still). I don't believe braking mode is enough to pull totes on its own. You can just make this return false and let the next command to the tail cancel this one through the default behavior of subsystem requirements.
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it's either that or make the defaultCommand of Tail be a version of this command with a goal that keeps it at its current location
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Alright I'll try to be there tomorrow and implement this stuff. Thanks! |
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need guidance on the tail commands whether to use a relative or absolute encoder, or if my method is ok. also if I did the PID loops correctly.