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View Code? Open in Web Editor NEWSpartronics 2019 Destination: Deep Space robot code
License: MIT License
Spartronics 2019 Destination: Deep Space robot code
License: MIT License
@pietroglyph Climb superstructure should be simpler:
Note: we may want to turn off the intake motor sooner -- but, suspect 1) it won't matter; 2) it could help w/ speed climb --> need testing!
@pietroglyph pls review this code to ensure it handles the arm position vs. chute position
@RyanOlney @pietroglyph there is a potential touch sensor added to the Panel Subsystem. Please check w/ Peter for final status and adjust the code necessary for handling 'atTarget()' when switch is activated.
Not clear if this code executes as intended in CargoChute.java
public synchronized boolean atTarget()
...
case BRING_BALL_TO_TOP:
return mSystemState == SystemState.RAMPING && ballInPosition()
@pietroglyph The climber should know based on distance sensors when climber is ready to pull the back pneumatics -- ref. to atTarget() --> DRIVING_UNTIL_PLATFORM_FULL_SUPPORT
@pietroglyph @AustinTSmith @J-James Currently Climber is relying on the Superstructure for safely transition between states, i.e. atTarget() is the only code that checks on sensor readings. Recommend revising the defaultStateTransfer and state actions to improve robot safety.
@J-James pls explain the function for ejecting
@pietroglyph If so, it is risky in the worse case and not optimized in the best case
@pietroglyph not sure I follow the use case -- should the wantedState be ALIGN_AND_EJECT_PANEL as I am assuming we just BACKING_OUT_FROM_LOADING?
@pietroglyph pls double check intention
@J-James suggest testing this -- seconds add up, so anything we can shave off is a good thing
@J-James is there a missing break between case statements? I would think one would like to lower the panel w/o doing a shoot
@pietroglyph if the climb is completed by pulling the rear pneumatics, we should turn off intake & drive motors.
@AustinTSmith @J-James please remove unused sensors from Climber code and sync w/ Peter to ensure wiring is accurate based on latest changes.
@AustinTSmith @J-James -- pls ensure this is correct!
mFrontRightIRSensor = new A41IRSensor(Constants.kFrontLeftIRSensorId);
mFrontLeftIRSensor = new A21IRSensor(Constants.kFrontRightIRSensorId);
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