Elevator #3
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Elevator #3
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For our elevator subsystem, we only really need two actually functional methods. One that moves to the specified height, and another for teleOp control that moves the elevator up and down. For this we need a ProfiledPIDController and Feedforward controller working in conjunction for maximum precision and efficiency that controls two motors. The elevator is an integral part of the game and will probably be controlled by the shoulder triggers for convenience and, once again, precision(since the shoulder triggers require pressure). This will be paired with some preset positions that can be moved to in the click of an ABXY button. The zero point should be at the lowest point in the elevator so that at a glance, it is easy to understand where the elevator is based on it's position. The only software limits we really need are the output voltages(which will be capped at 12).