A test of simpler code #46
Conversation
Fixed a lot of stuff.
maxspier
requested review from
HenrySeeger12,
dejabot,
jamesi8086,
nate19428 and
rcahoon
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we prob still need to add the run loop maybe 4 like antigrav or smth idk |
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Also need to transfer new PID values |
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| if(value + doubleDeadZone < altEncoder1.getSensorPosition() && value - doubleDeadZone > altEncoder1.getSensorPosition()){ | ||
| if(value + doubleDeadZone < altEncoder1.getPosition() && value - doubleDeadZone > altEncoder1.getPosition()){ |
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I think the deadzone comparison are swapped. should be
value + doubleDeadZone > altEncoder1.getPosition() && value - doubleDeadZone < altEncoder1.getPosition()so i think the antigrav case is never selected. either remove this or fix it (in which case i think you'll need to fix the value of doubleDeadZone - see my comment above)
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| if(value + doubleDeadZone < altEncoder2.getSensorPosition() && value - doubleDeadZone > altEncoder2.getSensorPosition()){ | ||
| if(value + doubleDeadZone < altEncoder2.getPosition() && value - doubleDeadZone > altEncoder2.getPosition()){ |
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same issue here - the comparisons are swapped
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| if(value + doubleDeadZone < altEncoder1.getSensorPosition() && value - doubleDeadZone > altEncoder1.getSensorPosition()){ | ||
| if(value + doubleDeadZone < altEncoder1.getPosition() && value - doubleDeadZone > altEncoder1.getPosition()){ | ||
| getAntiGravFirstJoint(); |
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I think this should be antiGravFirstJoint(); so that the antigrav is actually applied (getAntiGravFirstJoint() just calculates the amount of power to set, but doesn't actually apply it to the motor controller)
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| //This is our portion with antigrav | ||
| // These next 3 antiGrav aren't used. |
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fix this comment: these are used
| if(value + doubleDeadZone < altEncoder2.getSensorPosition() && value - doubleDeadZone > altEncoder2.getSensorPosition()){ | ||
| if(value + doubleDeadZone < altEncoder2.getPosition() && value - doubleDeadZone > altEncoder2.getPosition()){ | ||
| getAntiGravSecondJoint(); |
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same as above - i think this should be antiGravSecondJoint();
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| // These next 2 antiGravs are used. |
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fix this comment: betterGetAntiGravFirstJoint is not used
Fixed per ryans pr comment
So this lets antigrav work!
| //HIGH NODE SCORING | ||
| Robot.arms.pidForArmOne(-38.34); | ||
| Robot.arms.pidForArmTwo(-90.665); | ||
| Robot.arms.checkJointTwo(-90.665); |
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this call should've been in the pidForArmX
So basically this is 1241 am and i am putting this pr out so you guys can take a look especially James because i know that he is usually up late so yeah please take a look and hopefully this code wont kill anything because i actually concentrated while writing this.