frc5549robotics / 5549-2019 Goto Github PK

On 10/24/19 Parsia and I tried to implement lift for IROC. We tried to implement "a" as level 1 and "y" as level 2. However, the solution did not work. Upon further investigation, we found that the level 1 function only worked when level 2 function was commented out. When neither was commented out, neither of the functions worked. We setting PID Lift Controller Input Range to 500 returned an error.

For 10/25/19 I will try to see if he can get level 2 to work. Looking at the code, it could be that the robot is executing the elif statement instead of the if statement (due to it failing the requirements for the if statement). An idea is trying to set the setpoint for the elif at 200 in order to see if the code is executing the elif statement instead of the if statement. If level 2 can be implemented, I will also try to implement cargo for ship.

I have seen the lift work w/ with self (Gemini instance) but I would figure that since the PIDController is primarily used to control the lift that self.lift (SpeedControllerGroup) would be more sensible to pass as an argument. Address and discuss.