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Elevator subsystem #39

Closed
27 tasks
katzuv opened this issue Jan 14, 2025 · 0 comments · Fixed by #1
Closed
27 tasks

Elevator subsystem #39

katzuv opened this issue Jan 14, 2025 · 0 comments · Fixed by #1
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@Noga18
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subsystem Pull request for a subsystem

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@katzuv
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katzuv commented Jan 14, 2025 •
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Hardware

Two Kraken X60s (follower)
CANcoder

Constants

  • Heights enum:
    • L1
    • L2
    • L3
    • L4
    • L2_ALGAE
    • L3_ALGAE
    • Feeder
    • Zero == 0
  • GEAR_RATIO: Write all numbers
  • kG

Commands

  • l4
  • l3
  • l2
  • l1
  • l2algae
  • l3algae
  • feeder
  • retract
  • reset
  • manualSetHeight -- uses position control?
  • private setHeight

Triggers

  • atSetpoint
  • private isRetracted -- onTrue, set kG=0, onFalse set kG=kG

Outputs

  • setpoint (enum)
  • Mechanism2d
  • height
  • error
@Emma03L Emma03L added the subsystem Pull request for a subsystem label Jan 14, 2025
@katzuv katzuv linked a pull request Jan 15, 2025 that will close this issue
Add elevator code #1
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@Noga18 Noga18

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subsystem Pull request for a subsystem
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Add elevator code Galaxia5987/robot-2025
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@katzuv @rakrakon @Emma03L @Noga18