[FR] Elevator code #10
Description
Name
Joshua Moran
Feature Description
Robot code to control a two axis elevator/linear extension mechanism. Needs full PID loops for both motors (Falcon 500s) or maybe motion profiling. Allow XY input into a method for full control over position. Will setup multiple buttons for jumping to preset positions. Can be potentially be used to steady/help with endgame, needs to be tested to decide the feasibility of this. Also can be possibly be used for shifting CG.
Would likely use two falcons and a min/max limit switch for the arms.
Feature Timeline
no
Expected behavior
Button pushes trigger differing positions of arms.
Justification
Needed to meet season goals.
Possible implications
Could possibly destabilise the robots centre of gravity. May need tuning. Could possibly cause fouls if overextends, may need to program soft limits when In the wrong zones etc.
Implimentation
Possibly use the talonFX integrated control loops.
Importance
High (eg. part of the robot is not quite working properly)
Additional information & file uploads
No response