Feat/arm #6
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Feat/arm #6
+1,882
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e-bauman
reviewed
Dec 13, 2024
subsystem/arm.py
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| self.arm_moving = False | ||
| return True | ||
| else: | ||
| return False |
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add methods to get motor current and drive the arm up and down
subsystem/arm.py
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| self.zeroed = True | ||
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| # Extends arm to an radians | ||
| def extend(self, radians: radians) -> None: |
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ensure that the angle is between the min and max value of the arm before setting angle
command/arm.py
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| def end(self, interrupted: bool): | ||
| if interrupted: | ||
| self.subsystem.zeroed = False |
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zero arm command should drive arm down slowly until current is above a certain threshold. then stop the arm and set motor sensor to 0.
subsystem/arm.py
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| def __init__(self): | ||
| super().__init__() | ||
| self.arm_motor = TalonFX(can_id=constants.ARM_MOTOR_ID, config=config.arm_config) | ||
| self.arm_motor_follower = TalonFX(can_id=constants.ARM_MOTOR_ID, inverted=True, config=config.arm_config) |
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each motor has its own id. also can ids should be in config
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can ids will be 10 and 11
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@e-bauman all changes implemented |
e-bauman
reviewed
Dec 13, 2024
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Eric & I wrote subsystem and commands