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View Code? Open in Web Editor NEWTriple Helix's code for the 2023 FRC Charged Up season
License: MIT License
Triple Helix's code for the 2023 FRC Charged Up season
License: MIT License
Arm may be in unexpected state at start of autonomous if there has not been a rio reboot since the last teleoperated operation. Reset the arm state during autonomousInit to ensure the arm matches the expected state.
The robotworksheet indicates an 80A limit which is the default value for the Spark Max. We could turn this down to ~60 if we wanted to be more conservative.
https://www.revrobotics.com/neo-brushless-motor-locked-rotor-testing/
New motor controllers may be swapped into the robot at any time, and they may have strange configurations that need to be safely and permanently overridden.
Please add to each constructor:
restoreFactoryDefaults()
burnFlash()
This can cause issues across shared object boundaries, only ever use constexpr
in Constants.hpp
.
One way to fix this is to convert this:
const MyType value;
to
const MyType& GetVal() {
static MyType val;
return val;
}
Auto mode 3 (3 Cone) is missing from this switch statement, so the LEDs that provide feedback on robot placement during staging for auto mode 3 always remain green when auto mode 3 is selected, even when the robot placement is clearly wrong.
These...
if (m_expanded) {
m_expander.Set(DoubleSolenoid::kForward);
} else {
m_expander.Set(DoubleSolenoid::kReverse);
}
should be a part of Superstructure::SetExtenderPosition(bool expanded) {}
such that they are only called during a change of state of the mechanism, rather than on every periodic loop. Double solenoids remain in their last energized state when neither coil is energized.
As a result of the change, SetExtenderPosition
might also need to be called during autoninit and teleopinit to ensure the mechanism is in the expected state.
Every time we change to a different routine, we have to manually change the calibration matrix and the transform. This should be done automatically.
Problem
We need a way to zero the CANCoders for new robots and if they get off.
Possible Solution
A button in Shuffleboard would suffice.
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