Omer elevator #7
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katzuv
requested changes
Sep 13, 2022
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- There is some lack of documentation in the code, make sure to complete it.
- There is a bunch of code that was deleted in this branch, i.e. gripper
code. Why is that?- Also, there is diff in this branch that is unrelated to it, i.e. changes to Gradle files. These changes aren't related to the elevator, so they should be made in another branch.
- There are a few unused
imports in the code, delete them. Also, run Ctrl+Alt+L on your code (which will also optimize yourimports 🙃).
Good luck! I'm here for any questions 🙂
| public static final double kI = 0; | ||
| public static final double kD = 0; | ||
| public static final double kF = 0; | ||
| public static final double RADIUS = 0.66; |
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| public static class Gripper { | ||
| public static final int LEFTMOTOR = 0; | ||
| public static class Elevator { | ||
| public static final int motor = 0; |
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Why did you delete gripper constants?
| private final UnitModel unitModel = new UnitModel(Constants.Elevator.TICKS_PER_METER); | ||
| private static Elevator INSTANCE = null; | ||
| private Elevator(){ | ||
| motor.setInverted(TalonFXInvertType.Clockwise); |
| public static final double kI = 0; | ||
| public static final double kD = 0; | ||
| public static final double kF = 0; | ||
| public static final double RADIUS = 0.66; |
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| public static class Gripper { | ||
| public static final int LEFTMOTOR = 0; | ||
| public static class Elevator { | ||
| public static final int motor = 0; |
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Why did you delete gripper constants?
| } | ||
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| public double getheight(){ | ||
| return unitModel.toUnits(motor.getSensorCollection().getIntegratedSensorPosition()); |
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You can simply use getSelectedSensorPosition():
Suggested change
| return unitModel.toUnits(motor.getSensorCollection().getIntegratedSensorPosition()); | |
| return unitModel.toUnits(motor.getSelectedSensorPosition()); |
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import frc.robot.subsystems.elevator.Elevator; | ||
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| public class Height extends CommandBase { |
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Command names need to start with a verb.
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| @Override | ||
| public boolean isFinished() { | ||
| return Math.abs( elevator.getheight() - height); | ||
| } | ||
| } |
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A few unrelated notes:
isFinished()need to return aboolean, butMath.absreturns adoublein this case.TalonFX.getClosedLoopError()can quite help you here 🙂.isFinished()should come beforeend().
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omer elevator